diff --git a/.gitignore b/.gitignore index 71326517f2..afd63e06a0 100644 --- a/.gitignore +++ b/.gitignore @@ -34,5 +34,8 @@ mavlink/include/mavlink/v0.9/ /Documentation/html/ /Documentation/doxygen*objdb*tmp .tags +tags .tags_sorted_by_file .pydevproject +.ropeproject +*.orig diff --git a/.ycm_extra_conf.py b/.ycm_extra_conf.py new file mode 100644 index 0000000000..fed5cd28a0 --- /dev/null +++ b/.ycm_extra_conf.py @@ -0,0 +1,173 @@ +# This file is NOT licensed under the GPLv3, which is the license for the rest +# of YouCompleteMe. +# +# Here's the license text for this file: +# +# This is free and unencumbered software released into the public domain. +# +# Anyone is free to copy, modify, publish, use, compile, sell, or +# distribute this software, either in source code form or as a compiled +# binary, for any purpose, commercial or non-commercial, and by any +# means. +# +# In jurisdictions that recognize copyright laws, the author or authors +# of this software dedicate any and all copyright interest in the +# software to the public domain. We make this dedication for the benefit +# of the public at large and to the detriment of our heirs and +# successors. We intend this dedication to be an overt act of +# relinquishment in perpetuity of all present and future rights to this +# software under copyright law. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR +# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +# OTHER DEALINGS IN THE SOFTWARE. +# +# For more information, please refer to + +import os +import ycm_core + +# These are the compilation flags that will be used in case there's no +# compilation database set (by default, one is not set). +# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR. +flags = [ +'-Wall', +'-Wextra', +'-Werror', +#'-Wc++98-compat', +'-Wno-long-long', +'-Wno-variadic-macros', +'-fexceptions', +'-DNDEBUG', +# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM +# source code needs it. +#'-DUSE_CLANG_COMPLETER', +# THIS IS IMPORTANT! Without a "-std=" flag, clang won't know which +# language to use when compiling headers. So it will guess. Badly. So C++ +# headers will be compiled as C headers. You don't want that so ALWAYS specify +# a "-std=". +# For a C project, you would set this to something like 'c99' instead of +# 'c++11'. +'-std=c++11', +# ...and the same thing goes for the magic -x option which specifies the +# language that the files to be compiled are written in. This is mostly +# relevant for c++ headers. +# For a C project, you would set this to 'c' instead of 'c++'. +'-x', +'c++', +'-undef', # get rid of standard definitions to allow us to include arm math header +'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'), +'-I', 'Build/px4io-v1_default.build/nuttx-export/include/', +'-I', 'Build/px4io-v2_default.build/nuttx-export/include/', +'-I', './NuttX/nuttx/arch/arm/include', +'-include', './src/include/visibility.h', +'-I', './src', +'-I', './src/modules', +'-I', './src/include', +'-I', './src/lib', +'-I', './NuttX', +] + + +# Set this to the absolute path to the folder (NOT the file!) containing the +# compile_commands.json file to use that instead of 'flags'. See here for +# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html +# +# Most projects will NOT need to set this to anything; you can just change the +# 'flags' list of compilation flags. Notice that YCM itself uses that approach. +compilation_database_folder = '' + +if os.path.exists( compilation_database_folder ): + database = ycm_core.CompilationDatabase( compilation_database_folder ) +else: + database = None + +SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ] + +def DirectoryOfThisScript(): + return os.path.dirname( os.path.abspath( __file__ ) ) + + +def MakeRelativePathsInFlagsAbsolute( flags, working_directory ): + if not working_directory: + return list( flags ) + new_flags = [] + make_next_absolute = False + path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ] + for flag in flags: + new_flag = flag + + if make_next_absolute: + make_next_absolute = False + if not flag.startswith( '/' ): + new_flag = os.path.join( working_directory, flag ) + + for path_flag in path_flags: + if flag == path_flag: + make_next_absolute = True + break + + if flag.startswith( path_flag ): + path = flag[ len( path_flag ): ] + new_flag = path_flag + os.path.join( working_directory, path ) + break + + if new_flag: + new_flags.append( new_flag ) + return new_flags + + +def IsHeaderFile( filename ): + extension = os.path.splitext( filename )[ 1 ] + return extension in [ '.h', '.hxx', '.hpp', '.hh' ] + + +def GetCompilationInfoForFile( filename ): + # The compilation_commands.json file generated by CMake does not have entries + # for header files. So we do our best by asking the db for flags for a + # corresponding source file, if any. If one exists, the flags for that file + # should be good enough. + if IsHeaderFile( filename ): + basename = os.path.splitext( filename )[ 0 ] + for extension in SOURCE_EXTENSIONS: + replacement_file = basename + extension + if os.path.exists( replacement_file ): + compilation_info = database.GetCompilationInfoForFile( + replacement_file ) + if compilation_info.compiler_flags_: + return compilation_info + return None + return database.GetCompilationInfoForFile( filename ) + + +def FlagsForFile( filename, **kwargs ): + if database: + # Bear in mind that compilation_info.compiler_flags_ does NOT return a + # python list, but a "list-like" StringVec object + compilation_info = GetCompilationInfoForFile( filename ) + if not compilation_info: + return None + + final_flags = MakeRelativePathsInFlagsAbsolute( + compilation_info.compiler_flags_, + compilation_info.compiler_working_dir_ ) + + # NOTE: This is just for YouCompleteMe; it's highly likely that your project + # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR + # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT. + #try: + # final_flags.remove( '-stdlib=libc++' ) + #except ValueError: + # pass + else: + relative_to = DirectoryOfThisScript() + final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to ) + + return { + 'flags': final_flags, + 'do_cache': True + } diff --git a/Debug/NuttX b/Debug/NuttX index 3b95e96b2f..d34e9f5b4b 100644 --- a/Debug/NuttX +++ b/Debug/NuttX @@ -34,10 +34,10 @@ define _showheap else set $MM_ALLOC_BIT = 0x80000000 end - printf "HEAP %d %p - %p\n", $index, g_heapstart[$index], g_heapend[$index] + printf "HEAP %d %p - %p\n", $index, g_mmheap.mm_heapstart[$index], g_mmheap.mm_heapend[$index] printf "ptr size\n" - set $node = (char *)g_heapstart[$index] + sizeof(struct mm_allocnode_s) - while $node < g_heapend[$index] + set $node = (char *)g_mmheap.mm_heapstart[$index] + sizeof(struct mm_allocnode_s) + while $node < g_mmheap.mm_heapend[$index] printf " %p", $node set $nodestruct = (struct mm_allocnode_s *)$node printf " %u", $nodestruct->size @@ -47,7 +47,7 @@ define _showheap else set $used = $used + $nodestruct->size end - if ($nodestruct->size > g_heapsize) || (($node + $nodestruct->size) > g_heapend[$index]) + if ($nodestruct->size > g_mmheap.mm_heapsize) || (($node + $nodestruct->size) > g_mmheap.mm_heapend[$index]) printf " (BAD SIZE)" end printf "\n" @@ -59,7 +59,7 @@ define _showheap end define showheap - set $nheaps = sizeof(g_heapstart) / sizeof(g_heapstart[0]) + set $nheaps = sizeof(g_mmheap.mm_heapstart) / sizeof(g_mmheap.mm_heapstart[0]) printf "Printing %d heaps\n", $nheaps set $heapindex = (int)0 while $heapindex < $nheaps diff --git a/Debug/Nuttx.py b/Debug/Nuttx.py index 093edd0e09..7cc21b99f4 100644 --- a/Debug/Nuttx.py +++ b/Debug/Nuttx.py @@ -306,12 +306,15 @@ class NX_show_heap (gdb.Command): def __init__(self): super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER) - if gdb.lookup_type('struct mm_allocnode_s').sizeof == 8: - self._allocflag = 0x80000000 - self._allocnodesize = 8 - else: + struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s') + preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof + if preceding_size == 2: self._allocflag = 0x8000 - self._allocnodesize = 4 + elif preceding_size == 4: + self._allocflag = 0x80000000 + else: + raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size) + self._allocnodesize = struct_mm_allocnode_s.sizeof def _node_allocated(self, allocnode): if allocnode['preceding'] & self._allocflag: @@ -333,7 +336,8 @@ class NX_show_heap (gdb.Command): state = '' else: state = '(free)' - print ' {} {} {}'.format(allocnode.address + 8, self._node_size(allocnode), state) + print ' {} {} {}'.format(allocnode.address + self._allocnodesize, + self._node_size(allocnode), state) cursor += self._node_size(allocnode) / self._allocnodesize def invoke(self, args, from_tty): diff --git a/Documentation/rc_mode_switch.odg b/Documentation/rc_mode_switch.odg index 29d738c39c..682c63e471 100644 Binary files a/Documentation/rc_mode_switch.odg and b/Documentation/rc_mode_switch.odg differ diff --git a/Documentation/rc_mode_switch.pdf b/Documentation/rc_mode_switch.pdf index 856dd55c59..e795f48705 100644 Binary files a/Documentation/rc_mode_switch.pdf and b/Documentation/rc_mode_switch.pdf differ diff --git a/Images/aerocore.prototype b/Images/aerocore.prototype new file mode 100644 index 0000000000..8502a08646 --- /dev/null +++ b/Images/aerocore.prototype @@ -0,0 +1,12 @@ +{ + "board_id": 19, + "magic": "AeroCore", + "description": "Firmware for the Gumstix AeroCore board", + "image": "", + "build_time": 0, + "summary": "AEROCORE", + "version": "0.1", + "image_size": 0, + "git_identity": "", + "board_revision": 0 +} diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil index 36194ad682..d114fe21a2 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil @@ -7,7 +7,7 @@ sh /etc/init.d/rc.fw_defaults -echo "HIL Rascal 110 starting.." +echo "X Plane HIL starting.." set HIL yes diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index d691a6f2e6..f11aa704eb 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -10,11 +10,11 @@ sh /etc/init.d/rc.mc_defaults if [ $DO_AUTOCONFIG == yes ] then # TODO tune roll/pitch separately - param set MC_ROLL_P 9.0 + param set MC_ROLL_P 7.0 param set MC_ROLLRATE_P 0.13 param set MC_ROLLRATE_I 0.0 param set MC_ROLLRATE_D 0.004 - param set MC_PITCH_P 9.0 + param set MC_PITCH_P 7.0 param set MC_PITCHRATE_P 0.13 param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_D 0.004 diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d new file mode 100644 index 0000000000..6179855f6a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -0,0 +1,35 @@ +#!nsh +# +# Steadidrone QU4D +# +# Thomas Gubler +# Lorenz Meier +# + +sh /etc/init.d/rc.mc_defaults + +if [ $DO_AUTOCONFIG == yes ] +then + # TODO tune roll/pitch separately + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.13 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.004 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.13 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.004 + param set MC_YAW_P 0.5 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 + + param set BAT_N_CELLS 4 +fi + +set MIXER FMU_quad_w + +set PWM_MIN 1210 +set PWM_MAX 2100 + +set PWM_OUTPUTS 1234 diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox index b98ab47748..df2e609bc8 100644 --- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -2,14 +2,14 @@ # # UNTESTED UNTESTED! # -# Generic 10” Hexa coaxial geometry +# Generic 10" Hexa coaxial geometry # # Lorenz Meier # sh /etc/init.d/rc.mc_defaults -set MIXER hexa_cox +set MIXER FMU_hexa_cox # We only can run one channel group with one rate, so set all 8 channels set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index 655cb6226e..8703f5f2fe 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -1,12 +1,12 @@ #!nsh # -# Generic 10” Octo coaxial geometry +# Generic 10" Octo coaxial geometry # # Lorenz Meier # sh /etc/init.d/rc.mc_defaults -set MIXER octo_cox +set MIXER FMU_octo_cox set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar index 465a22c53a..db0e40fc2e 100644 --- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar +++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar @@ -5,4 +5,4 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_RET +set MIXER easystar.mix diff --git a/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 new file mode 100644 index 0000000000..9bc0262d83 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 @@ -0,0 +1,5 @@ +#!nsh + +sh /etc/init.d/rc.fw_defaults + +set MIXER FMU_AET diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index a3004d1e13..24372bddcf 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -2,9 +2,38 @@ # # Phantom FPV Flying Wing # -# Simon Wilks +# Simon Wilks , Thomas Gubler # sh /etc/init.d/rc.fw_defaults +if [ $DO_AUTOCONFIG == yes ] +then + param set FW_AIRSPD_MIN 13 + param set FW_AIRSPD_TRIM 15 + param set FW_AIRSPD_MAX 25 + param set FW_ATT_TC 0.3 + param set FW_L1_DAMPING 0.75 + param set FW_L1_PERIOD 15 + param set FW_PR_FF 0.2 + param set FW_PR_I 0.005 + param set FW_PR_IMAX 0.2 + param set FW_PR_P 0.03 + param set FW_P_LIM_MAX 50 + param set FW_P_LIM_MIN -50 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 1 + param set FW_RR_FF 0.5 + param set FW_RR_I 0.02 + param set FW_RR_IMAX 0.2 + param set FW_RR_P 0.08 + param set FW_R_LIM 50 + param set FW_R_RMAX 0 + param set FW_T_HRATE_P 0.01 + param set FW_T_RLL2THR 15 + param set FW_T_SRATE_P 0.01 + param set FW_T_TIME_CONST 5 +fi + set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index bf5a87068f..465166f253 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -23,7 +23,7 @@ then param set FW_P_LIM_MIN -45 param set FW_P_RMAX_NEG 0 param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 0 + param set FW_P_ROLLFF 1 param set FW_RR_FF 0.3 param set FW_RR_I 0 param set FW_RR_IMAX 0.2 diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index 2af3618d98..fff4b58df4 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -7,4 +7,32 @@ sh /etc/init.d/rc.fw_defaults +if [ $DO_AUTOCONFIG == yes ] +then + param set BAT_N_CELLS 2 + param set FW_AIRSPD_MAX 15 + param set FW_AIRSPD_MIN 7 + param set FW_AIRSPD_TRIM 11 + param set FW_ATT_TC 0.3 + param set FW_L1_DAMPING 0.74 + param set FW_L1_PERIOD 12 + param set FW_LND_ANG 15 + param set FW_LND_FLALT 5 + param set FW_LND_HHDIST 15 + param set FW_LND_HVIRT 13 + param set FW_LND_TLALT 5 + param set FW_THR_LND_MAX 0 + param set FW_P_ROLLFF 2 + param set FW_PR_FF 0.6 + param set FW_PR_IMAX 0.2 + param set FW_PR_P 0.06 + param set FW_RR_FF 0.6 + param set FW_RR_IMAX 0.2 + param set FW_RR_P 0.09 + param set FW_THR_CRUISE 0.65 +fi + set MIXER FMU_Q +# Provide ESC a constant 1000 us pulse +set PWM_OUTPUTS 4 +set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha new file mode 100644 index 0000000000..7dbda54d3a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -0,0 +1,42 @@ +#!nsh +# +# TBS Caipirinha Flying Wing +# +# Thomas Gubler +# + +sh /etc/init.d/rc.fw_defaults + +if [ $DO_AUTOCONFIG == yes ] +then + + # TODO: these are the X5 default parameters, update them to the caipi + + param set FW_AIRSPD_MIN 15 + param set FW_AIRSPD_TRIM 20 + param set FW_AIRSPD_MAX 40 + param set FW_ATT_TC 0.3 + param set FW_L1_DAMPING 0.74 + param set FW_L1_PERIOD 15 + param set FW_PR_FF 0.3 + param set FW_PR_I 0 + param set FW_PR_IMAX 0.2 + param set FW_PR_P 0.03 + param set FW_P_LIM_MAX 45 + param set FW_P_LIM_MIN -45 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 0 + param set FW_RR_FF 0.3 + param set FW_RR_I 0 + param set FW_RR_IMAX 0.2 + param set FW_RR_P 0.03 + param set FW_R_LIM 60 + param set FW_R_RMAX 0 + param set FW_T_HRATE_P 0.01 + param set FW_T_RLL2THR 15 + param set FW_T_SRATE_P 0.01 + param set FW_T_TIME_CONST 5 +fi + +set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 345b0e3e4e..06c54a41db 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Quad X geometry +# Generic 10" Quad X geometry # # Lorenz Meier # diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index 0f98f7b6c2..14786f2106 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -23,13 +23,15 @@ then param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_D 0.0 param set MC_YAW_P 1.0 - param set MC_YAW_D 0.1 param set MC_YAWRATE_P 0.15 param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_D 0.0 param set MC_YAW_FF 0.15 + param set BAT_V_SCALING 0.00838095238 fi set OUTPUT_MODE ardrone set USE_IO no set MIXER skip +# set MAV_TYPE because no specific mixer is set +set MAV_TYPE 2 diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index 55b31067d1..1fb25e5d88 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Quad + geometry +# Generic 10" Quad + geometry # # Anton Babushkin # diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index 7714a508cf..34fc6523fe 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Hexa X geometry +# Generic 10" Hexa X geometry # # Anton Babushkin # diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index 60db8c0690..235e376a6e 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Hexa + geometry +# Generic 10" Hexa + geometry # # Anton Babushkin # diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index 411aee1140..769217dc78 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Octo X geometry +# Generic 10" Octo X geometry # # Anton Babushkin # diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index 81132fd3e7..28b074a545 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Octo + geometry +# Generic 10" Octo + geometry # # Anton Babushkin # diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 7aaf7133ef..b365bd6420 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -68,6 +68,12 @@ then set MODE custom fi +if param compare SYS_AUTOSTART 2103 103 +then + sh /etc/init.d/2103_skyhunter_1800 + set MODE custom +fi + # # Flying wing # @@ -97,6 +103,11 @@ then sh /etc/init.d/3034_fx79 fi +if param compare SYS_AUTOSTART 3100 +then + sh /etc/init.d/3100_tbs_caipirinha +fi + # # Quad X # @@ -184,6 +195,11 @@ then sh /etc/init.d/10016_3dr_iris fi +if param compare SYS_AUTOSTART 10017 +then + sh /etc/init.d/10017_steadidrone_qu4d +fi + # # Hexa Coaxial # diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps index 72327c554e..9aca3fc5f4 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_apps +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -3,6 +3,13 @@ # Standard apps for fixed wing # -att_pos_estimator_ekf start +# +# Start the attitude and position estimator +# +ekf_att_pos_estimator start + +# +# Start attitude controller +# fw_att_control start fw_pos_control_l1 start diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io index 6e8fdbc0f7..e23aebd87f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.io +++ b/ROMFS/px4fmu_common/init.d/rc.io @@ -11,7 +11,7 @@ px4io recovery # Adjust PX4IO update rate limit # set PX4IO_LIMIT 400 -if hw_ver compare PX4FMU_V1 +if ver hwcmp PX4FMU_V1 then set PX4IO_LIMIT 200 fi diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index c5aef8273c..517e073afb 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -5,10 +5,10 @@ if [ -d /fs/microsd ] then - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then echo "Start sdlog2 at 50Hz" - sdlog2 start -r 50 -a -b 8 -t + sdlog2 start -r 50 -a -b 4 -t else echo "Start sdlog2 at 200Hz" sdlog2 start -r 200 -a -b 16 -t diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps index ed3939757a..268eb9bba0 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_apps +++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps @@ -5,6 +5,7 @@ # attitude_estimator_ekf start +#ekf_att_pos_estimator start position_estimator_inav start mc_att_control start diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 4db62607a9..b6b0a5b4ed 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -32,9 +32,15 @@ then param set MPC_Z_VEL_D 0.0 param set MPC_Z_VEL_MAX 3 param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 + param set MPC_TILTMAX_AIR 45.0 + param set MPC_TILTMAX_LND 15.0 param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 + + param set PE_VELNE_NOISE 0.5 + param set PE_VELNE_NOISE 0.7 + param set PE_POSNE_NOISE 0.5 + param set PE_POSD_NOISE 1.0 + fi set PWM_RATE 400 diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 235be24316..1e14930fe3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -22,7 +22,7 @@ then echo "[init] Using L3GD20(H)" fi -if hw_ver compare PX4FMU_V2 +if ver hwcmp PX4FMU_V2 then if lsm303d start then diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 0cd8a0e042..76593881db 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -3,40 +3,20 @@ # USB MAVLink start # -echo "Starting MAVLink on this USB console" - -# Stop tone alarm -tone_alarm stop - -# -# Check for UORB -# -if uorb start -then - echo "uORB started" -fi - -# Tell MAVLink that this link is "fast" -if mavlink stop -then - echo "stopped other MAVLink instance" -fi -mavlink start -b 230400 -d /dev/ttyACM0 - -# Stop commander -if commander stop -then - echo "Commander stopped" -fi -sleep 1 - -# Start the commander -if commander start -then - echo "Commander started" -fi - -echo "MAVLink started, exiting shell.." +mavlink start -r 10000 -d /dev/ttyACM0 +# Enable a number of interesting streams we want via USB +mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20 +usleep 100000 # Exit shell to make it available to MAVLink -exit +exit diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 57299d7724..8c413e0878 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -20,7 +20,7 @@ echo "[init] Looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then set LOG_FILE /fs/microsd/bootlog.txt - echo "[init] microSD card mounted at /fs/microsd" + echo "[init] microSD mounted: /fs/microsd" # Start playing the startup tune tone_alarm start else @@ -83,9 +83,9 @@ then param select $PARAM_FILE if param load then - echo "[init] Parameters loaded: $PARAM_FILE" + echo "[init] Params loaded: $PARAM_FILE" else - echo "[init] ERROR: Parameters loading failed: $PARAM_FILE" + echo "[init] ERROR: Params loading failed: $PARAM_FILE" fi # @@ -108,7 +108,6 @@ then set HIL no set VEHICLE_TYPE none set MIXER none - set USE_IO yes set OUTPUT_MODE none set PWM_OUTPUTS none set PWM_RATE none @@ -117,7 +116,12 @@ then set PWM_MAX none set MKBLCTRL_MODE none set FMU_MODE pwm + set MAVLINK_FLAGS default + set EXIT_ON_END no set MAV_TYPE none + set LOAD_DEFAULT_APPS yes + set GPS yes + set GPS_FAKE no # # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts @@ -128,13 +132,23 @@ then else set DO_AUTOCONFIG no fi + + # + # Set USE_IO flag + # + if param compare SYS_USE_IO 1 + then + set USE_IO yes + else + set USE_IO no + fi # # Set parameters and env variables for selected AUTOSTART # if param compare SYS_AUTOSTART 0 then - echo "[init] Don't try to find autostart script" + echo "[init] No autostart" else sh /etc/init.d/rc.autostart fi @@ -144,10 +158,10 @@ then # if [ -f $CONFIG_FILE ] then - echo "[init] Reading config: $CONFIG_FILE" + echo "[init] Config: $CONFIG_FILE" sh $CONFIG_FILE else - echo "[init] Config file not found: $CONFIG_FILE" + echo "[init] Config not found: $CONFIG_FILE" fi # @@ -234,7 +248,7 @@ then echo "[init] ERROR: PX4IO not found, disabling output" # Avoid using ttyS0 for MAVLink on FMUv1 - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then set FMU_MODE serial fi @@ -248,14 +262,14 @@ then if [ $HIL == yes ] then set OUTPUT_MODE hil - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then set FMU_MODE serial fi - else - # Try to get an USB console if not in HIL mode - nshterm /dev/ttyACM0 & fi + + # Try to get an USB console + nshterm /dev/ttyACM0 & # # Start the Commander (needs to be this early for in-air-restarts) @@ -282,6 +296,7 @@ then tone_alarm $TUNE_OUT_ERROR fi fi + if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then echo "[init] Use FMU as primary output" @@ -293,7 +308,7 @@ then tone_alarm $TUNE_OUT_ERROR fi - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] then @@ -305,6 +320,7 @@ then fi fi fi + if [ $OUTPUT_MODE == mkblctrl ] then echo "[init] Use MKBLCTRL as primary output" @@ -326,7 +342,8 @@ then tone_alarm $TUNE_OUT_ERROR fi - fi + fi + if [ $OUTPUT_MODE == hil ] then echo "[init] Use HIL as primary output" @@ -366,7 +383,7 @@ then tone_alarm $TUNE_OUT_ERROR fi - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] then @@ -384,54 +401,47 @@ then # # MAVLink # - set EXIT_ON_END no - - if [ $HIL == yes ] + if [ $MAVLINK_FLAGS == default ] then - sleep 1 - mavlink start -b 230400 -d /dev/ttyACM0 - usleep 5000 - else + # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s if [ $TTYS1_BUSY == yes ] then # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else - mavlink start -d /dev/ttyS0 - usleep 5000 - + set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" + # Exit from nsh to free port for mavlink set EXIT_ON_END yes else # Start MAVLink on default port: ttyS1 - mavlink start - usleep 5000 + set MAVLINK_FLAGS "-r 1000" fi fi - - # - # Start the datamanager - # - dataman start - - # - # Start the navigator - # - navigator start + + mavlink start $MAVLINK_FLAGS # # Sensors, Logging, GPS # - echo "[init] Start sensors" sh /etc/init.d/rc.sensors if [ $HIL == no ] then echo "[init] Start logging" sh /etc/init.d/rc.logging - - echo "[init] Start GPS" - gps start fi + if [ $GPS == yes ] + then + echo "[init] Start GPS" + if [ $GPS_FAKE == yes ] + then + echo "[init] Faking GPS" + gps start -f + else + gps start + fi + fi + # # Start up ARDrone Motor interface # @@ -465,7 +475,10 @@ then sh /etc/init.d/rc.interface # Start standard fixedwing apps - sh /etc/init.d/rc.fw_apps + if [ $LOAD_DEFAULT_APPS == yes ] + then + sh /etc/init.d/rc.fw_apps + fi fi # @@ -495,7 +508,7 @@ then then set MAV_TYPE 13 fi - if [ $MIXER == hexa_cox ] + if [ $MIXER == FMU_hexa_cox ] then set MAV_TYPE 13 fi @@ -521,9 +534,22 @@ then sh /etc/init.d/rc.interface # Start standard multicopter apps - sh /etc/init.d/rc.mc_apps + if [ $LOAD_DEFAULT_APPS == yes ] + then + sh /etc/init.d/rc.mc_apps + fi fi + # + # Start the datamanager + # + dataman start + + # + # Start the navigator + # + navigator start + # # Generic setup (autostart ID not found) # @@ -539,11 +565,12 @@ then echo "[init] Starting addons script: $EXTRAS_FILE" sh $EXTRAS_FILE else - echo "[init] Addons script not found: $EXTRAS_FILE" + echo "[init] No addons script: $EXTRAS_FILE" fi if [ $EXIT_ON_END == yes ] then + echo "[init] Exit from nsh" exit fi diff --git a/ROMFS/px4fmu_common/mixers/hexa_cox.mix b/ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix similarity index 100% rename from ROMFS/px4fmu_common/mixers/hexa_cox.mix rename to ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix diff --git a/ROMFS/px4fmu_common/mixers/easystar.mix b/ROMFS/px4fmu_common/mixers/easystar.mix new file mode 100644 index 0000000000..0051ffdbba --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/easystar.mix @@ -0,0 +1,31 @@ +EASYSTAR / EASYSTAR II MIXER +============================ + +Aileron mixer +------------- +One output - would be easy to add support for 2 servos + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Rudder mixer +------------ + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 -10000 -10000 0 -10000 10000 + +Motor speed mixer +----------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/Tools/.gitignore b/Tools/.gitignore new file mode 100644 index 0000000000..7628bda821 --- /dev/null +++ b/Tools/.gitignore @@ -0,0 +1,2 @@ +parameters.wiki +parameters.xml diff --git a/Tools/fetch_log.py b/Tools/fetch_log.py new file mode 100644 index 0000000000..edcc6557c2 --- /dev/null +++ b/Tools/fetch_log.py @@ -0,0 +1,133 @@ +#!/usr/bin/env python +############################################################################ +# +# Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved. +# +# 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. +# +############################################################################ + +# +# Log fetcher +# +# Print list of logs: +# python fetch_log.py +# +# Fetch log: +# python fetch_log.py sess001/log001.bin +# + +import serial, time, sys, os + +def wait_for_string(ser, s, timeout=1.0, debug=False): + t0 = time.time() + buf = [] + res = [] + n = 0 + while (True): + c = ser.read() + if debug: + sys.stderr.write(c) + buf.append(c) + if len(buf) > len(s): + res.append(buf.pop(0)) + n += 1 + if n % 10000 == 0: + sys.stderr.write(str(n) + "\n") + if "".join(buf) == s: + break + if timeout > 0.0 and time.time() - t0 > timeout: + raise Exception("Timeout while waiting for: " + s) + return "".join(res) + +def exec_cmd(ser, cmd, timeout): + ser.write(cmd + "\n") + ser.flush() + wait_for_string(ser, cmd + "\r\n", timeout) + return wait_for_string(ser, "nsh> \x1b[K", timeout) + +def ls_dir(ser, dir, timeout=1.0): + res = [] + for line in exec_cmd(ser, "ls -l " + dir, timeout).splitlines()[1:]: + res.append((line[20:], int(line[11:19].strip()), line[1] == "d")) + return res + +def list_logs(ser): + logs_dir = "/fs/microsd/log" + res = [] + for d in ls_dir(ser, logs_dir): + if d[2]: + sess_dir = d[0][:-1] + for f in ls_dir(ser, logs_dir + "/" + sess_dir): + log_file = f[0] + log_size = f[1] + res.append(sess_dir + "/" + log_file + "\t" + str(log_size)) + return "\n".join(res) + +def fetch_log(ser, fn, timeout): + cmd = "dumpfile " + fn + ser.write(cmd + "\n") + ser.flush() + wait_for_string(ser, cmd + "\r\n", timeout, True) + res = wait_for_string(ser, "\n", timeout, True) + data = [] + if res.startswith("OK"): + size = int(res.split()[1]) + n = 0 + print "Reading data:" + while (n < size): + buf = ser.read(min(size - n, 8192)) + data.append(buf) + n += len(buf) + sys.stdout.write(".") + sys.stdout.flush() + print + else: + raise Exception("Error reading log") + wait_for_string(ser, "nsh> \x1b[K", timeout) + return "".join(data) + +def main(): + dev = "/dev/tty.usbmodem1" + ser = serial.Serial(dev, "115200", timeout=0.2) + if len(sys.argv) < 2: + print list_logs(ser) + else: + log_file = sys.argv[1] + data = fetch_log(ser, "/fs/microsd/log/" + log_file, 1.0) + try: + os.mkdir(log_file.split("/")[0]) + except: + pass + fout = open(log_file, "wb") + fout.write(data) + fout.close() + ser.close() + +if __name__ == "__main__": + main() diff --git a/Tools/fix_code_style.sh b/Tools/fix_code_style.sh index 0b6743013f..5995d428ea 100755 --- a/Tools/fix_code_style.sh +++ b/Tools/fix_code_style.sh @@ -16,5 +16,6 @@ astyle \ --ignore-exclude-errors-x \ --lineend=linux \ --exclude=EASTL \ - --add-brackets \ + --add-brackets \ + --max-code-length=120 \ $* diff --git a/Tools/px4params/.gitignore b/Tools/px4params/.gitignore deleted file mode 100644 index d78b71a6e8..0000000000 --- a/Tools/px4params/.gitignore +++ /dev/null @@ -1,4 +0,0 @@ -parameters.wiki -parameters.xml -parameters.wikirpc.xml -cookies.txt \ No newline at end of file diff --git a/Tools/px4params/README.md b/Tools/px4params/README.md index a23b447995..50dcd2e296 100644 --- a/Tools/px4params/README.md +++ b/Tools/px4params/README.md @@ -1,9 +1 @@ -h1. PX4 Parameters Processor - -It's designed to scan PX4 source codes, find declarations of tunable parameters, -and generate the list in various formats. - -Currently supported formats are: - -* XML for the parametric UI generator -* Human-readable description in DokuWiki format +This folder contains a python library used by px_process_params.py diff --git a/Tools/px4params/__init__.py b/Tools/px4params/__init__.py new file mode 100644 index 0000000000..3a9f1e2c6d --- /dev/null +++ b/Tools/px4params/__init__.py @@ -0,0 +1 @@ +__all__ = ["srcscanner", "srcparser", "xmlout", "dokuwikiout", "dokuwikirpc"] \ No newline at end of file diff --git a/Tools/px4params/dokuwikiout.py b/Tools/px4params/dokuwikiout.py new file mode 100644 index 0000000000..77e0ef53db --- /dev/null +++ b/Tools/px4params/dokuwikiout.py @@ -0,0 +1,44 @@ +from xml.sax.saxutils import escape +import codecs + +class DokuWikiTablesOutput(): + def __init__(self, groups): + result = ("====== Parameter Reference ======\n" + "**This list is auto-generated from the source code** and contains the most recent parameter documentation.\n" + "\n") + for group in groups: + result += "==== %s ====\n\n" % group.GetName() + result += "|< 100% 25% 45% 10% 10% 10% >|\n" + result += "^ Name ^ Description ^ Min ^ Max ^ Default ^\n" + result += "^ ::: ^ Comment ^^^^\n" + for param in group.GetParams(): + code = param.GetFieldValue("code") + name = param.GetFieldValue("short_desc") + min_val = param.GetFieldValue("min") + max_val = param.GetFieldValue("max") + def_val = param.GetFieldValue("default") + long_desc = param.GetFieldValue("long_desc") + + if name == code: + name = "" + else: + name = name.replace("\n", " ") + name = name.replace("|", "%%|%%") + name = name.replace("^", "%%^%%") + + result += "| **%s** |" % code + result += " %s |" % name + result += " %s |" % (min_val or "") + result += " %s |" % (max_val or "") + result += " %s |" % (def_val or "") + result += "\n" + + if long_desc is not None: + result += "| ::: |
%s
||||\n" % long_desc + + result += "\n" + self.output = result; + + def Save(self, filename): + with codecs.open(filename, 'w', 'utf-8') as f: + f.write(self.output) diff --git a/Tools/px4params/dokuwikirpc.py b/Tools/px4params/dokuwikirpc.py new file mode 100644 index 0000000000..407d306fda --- /dev/null +++ b/Tools/px4params/dokuwikirpc.py @@ -0,0 +1,16 @@ +try: + import xmlrpclib +except ImportError: + import xmlrpc.client as xmlrpclib + +# See https://www.dokuwiki.org/devel:xmlrpc for a list of available functions! +# Usage example: +# xmlrpc = dokuwikirpc.get_xmlrpc(url, username, password) +# print(xmlrpc.dokuwiki.getVersion()) + +def get_xmlrpc(url, username, password): + #proto, url = url.split("://") + #url = proto + "://" + username + ":" + password + "@" + url + "/lib/exe/xmlrpc.php" + url += "/lib/exe/xmlrpc.php?u=" + username + "&p=" + password + + return xmlrpclib.ServerProxy(url) diff --git a/Tools/px4params/output_dokuwiki_listings.py b/Tools/px4params/output_dokuwiki_listings.py deleted file mode 100644 index 83c50ae15d..0000000000 --- a/Tools/px4params/output_dokuwiki_listings.py +++ /dev/null @@ -1,31 +0,0 @@ -import codecs - -class DokuWikiListingsOutput(): - def __init__(self, groups): - result = "" - for group in groups: - result += "==== %s ====\n\n" % group.GetName() - for param in group.GetParams(): - code = param.GetFieldValue("code") - name = param.GetFieldValue("short_desc") - if code != name: - name = "%s (%s)" % (name, code) - result += "=== %s ===\n\n" % name - long_desc = param.GetFieldValue("long_desc") - if long_desc is not None: - result += "%s\n\n" % long_desc - min_val = param.GetFieldValue("min") - if min_val is not None: - result += "* Minimal value: %s\n" % min_val - max_val = param.GetFieldValue("max") - if max_val is not None: - result += "* Maximal value: %s\n" % max_val - def_val = param.GetFieldValue("default") - if def_val is not None: - result += "* Default value: %s\n" % def_val - result += "\n" - self.output = result - - def Save(self, filename): - with codecs.open(filename, 'w', 'utf-8') as f: - f.write(self.output) diff --git a/Tools/px4params/output_dokuwiki_tables.py b/Tools/px4params/output_dokuwiki_tables.py deleted file mode 100644 index aa04304df7..0000000000 --- a/Tools/px4params/output_dokuwiki_tables.py +++ /dev/null @@ -1,76 +0,0 @@ -from xml.sax.saxutils import escape -import codecs - -class DokuWikiTablesOutput(): - def __init__(self, groups): - result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values.\n\n" - for group in groups: - result += "==== %s ====\n\n" % group.GetName() - result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n" - result += "^ Name ^ Description ^ Min ^ Max ^ Default ^ Comment ^\n" - for param in group.GetParams(): - code = param.GetFieldValue("code") - name = param.GetFieldValue("short_desc") - min_val = param.GetFieldValue("min") - max_val = param.GetFieldValue("max") - def_val = param.GetFieldValue("default") - long_desc = param.GetFieldValue("long_desc") - - name = name.replace("\n", " ") - result += "| %s | %s |" % (code, name) - - if min_val is not None: - result += " %s |" % min_val - else: - result += " |" - - if max_val is not None: - result += " %s |" % max_val - else: - result += " |" - - if def_val is not None: - result += " %s |" % def_val - else: - result += " |" - - if long_desc is not None: - long_desc = long_desc.replace("\n", " ") - result += " %s |" % long_desc - else: - result += " |" - - result += "\n" - result += "\n" - self.output = result; - - def Save(self, filename): - with codecs.open(filename, 'w', 'utf-8') as f: - f.write(self.output) - - def SaveRpc(self, filename): - with codecs.open(filename, 'w', 'utf-8') as f: - f.write(""" - - wiki.putPage - - - - :firmware:parameters - - - - - """) - f.write(escape(self.output)) - f.write(""" - - - - - sum - Updated parameters automagically from code. - - - -""") diff --git a/Tools/px4params/srcparser.py b/Tools/px4params/srcparser.py index 1b2d301108..0a4d21d264 100644 --- a/Tools/px4params/srcparser.py +++ b/Tools/px4params/srcparser.py @@ -44,6 +44,7 @@ class Parameter(object): "default": 6, "min": 5, "max": 4, + "unit": 3, # all others == 0 (sorted alphabetically) } @@ -71,7 +72,7 @@ class Parameter(object): """ return self.fields.get(code) -class Parser(object): +class SourceParser(object): """ Parses provided data and stores all found parameters internally. """ @@ -86,7 +87,7 @@ class Parser(object): re_is_a_number = re.compile(r'^-?[0-9\.]') re_remove_dots = re.compile(r'\.+$') - valid_tags = set(["min", "max", "group"]) + valid_tags = set(["group", "min", "max", "unit"]) # Order of parameter groups priority = { diff --git a/Tools/px4params/scanner.py b/Tools/px4params/srcscanner.py similarity index 73% rename from Tools/px4params/scanner.py rename to Tools/px4params/srcscanner.py index 8779b7bbf6..d7eca72d72 100644 --- a/Tools/px4params/scanner.py +++ b/Tools/px4params/srcscanner.py @@ -2,26 +2,21 @@ import os import re import codecs -class Scanner(object): +class SourceScanner(object): """ Traverses directory tree, reads all source files, and passes their contents to the Parser. """ - re_file_extension = re.compile(r'\.([^\.]+)$') - def ScanDir(self, srcdir, parser): """ Scans provided path and passes all found contents to the parser using parser.Parse method. """ - extensions = set(parser.GetSupportedExtensions()) + extensions = tuple(parser.GetSupportedExtensions()) for dirname, dirnames, filenames in os.walk(srcdir): for filename in filenames: - m = self.re_file_extension.search(filename) - if m: - ext = m.group(1) - if ext in extensions: + if filename.endswith(extensions): path = os.path.join(dirname, filename) self.ScanFile(path, parser) diff --git a/Tools/px4params/output_xml.py b/Tools/px4params/xmlout.py similarity index 100% rename from Tools/px4params/output_xml.py rename to Tools/px4params/xmlout.py diff --git a/Tools/px4params/xmlrpc.sh b/Tools/px4params/xmlrpc.sh deleted file mode 100644 index efd177f46a..0000000000 --- a/Tools/px4params/xmlrpc.sh +++ /dev/null @@ -1,5 +0,0 @@ -python px_process_params.py - -rm cookies.txt -curl --cookie cookies.txt --cookie-jar cookies.txt --user-agent Mozilla/4.0 --data "u=$XMLRPCUSER&p=$XMLRPCPASS" https://pixhawk.org/start?do=login -curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wikirpc.xml "https://pixhawk.org/lib/exe/xmlrpc.php" diff --git a/Tools/px_process_params.py b/Tools/px_process_params.py new file mode 100644 index 0000000000..12128a997e --- /dev/null +++ b/Tools/px_process_params.py @@ -0,0 +1,140 @@ +#!/usr/bin/env python +############################################################################ +# +# Copyright (C) 2013-2014 PX4 Development Team. All rights reserved. +# +# 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. +# +############################################################################ + +# +# PX4 paramers processor (main executable file) +# +# This tool scans the PX4 source code for declarations of tunable parameters +# and outputs the list in various formats. +# +# Currently supported formats are: +# * XML for the parametric UI generator +# * Human-readable description in DokuWiki page format +# +# This tool also allows to automatically upload the human-readable version +# to the DokuWiki installation via XML-RPC. +# + +from __future__ import print_function +import sys +import os +import argparse +from px4params import srcscanner, srcparser, xmlout, dokuwikiout, dokuwikirpc + +def main(): + # Parse command line arguments + parser = argparse.ArgumentParser(description="Process parameter documentation.") + parser.add_argument("-s", "--src-path", + default="../src", + metavar="PATH", + help="path to source files to scan for parameters") + parser.add_argument("-x", "--xml", + nargs='?', + const="parameters.xml", + metavar="FILENAME", + help="Create XML file" + " (default FILENAME: parameters.xml)") + parser.add_argument("-w", "--wiki", + nargs='?', + const="parameters.wiki", + metavar="FILENAME", + help="Create DokuWiki file" + " (default FILENAME: parameters.wiki)") + parser.add_argument("-u", "--wiki-update", + nargs='?', + const="firmware:parameters", + metavar="PAGENAME", + help="Update DokuWiki page" + " (default PAGENAME: firmware:parameters)") + parser.add_argument("--wiki-url", + default="https://pixhawk.org", + metavar="URL", + help="DokuWiki URL" + " (default: https://pixhawk.org)") + parser.add_argument("--wiki-user", + default=os.environ.get('XMLRPCUSER', None), + metavar="USERNAME", + help="DokuWiki XML-RPC user name" + " (default: $XMLRPCUSER environment variable)") + parser.add_argument("--wiki-pass", + default=os.environ.get('XMLRPCPASS', None), + metavar="PASSWORD", + help="DokuWiki XML-RPC user password" + " (default: $XMLRPCUSER environment variable)") + parser.add_argument("--wiki-summary", + metavar="SUMMARY", + default="Automagically updated parameter documentation from code.", + help="DokuWiki page edit summary") + args = parser.parse_args() + + # Check for valid command + if not (args.xml or args.wiki or args.wiki_update): + print("Error: You need to specify at least one output method!\n") + parser.print_usage() + sys.exit(1) + + # Initialize source scanner and parser + scanner = srcscanner.SourceScanner() + parser = srcparser.SourceParser() + + # Scan directories, and parse the files + print("Scanning source path " + args.src_path) + scanner.ScanDir(args.src_path, parser) + param_groups = parser.GetParamGroups() + + # Output to XML file + if args.xml: + print("Creating XML file " + args.xml) + out = xmlout.XMLOutput(param_groups) + out.Save(args.xml) + + # Output to DokuWiki tables + if args.wiki or args.wiki_update: + out = dokuwikiout.DokuWikiTablesOutput(param_groups) + if args.wiki: + print("Creating wiki file " + args.wiki) + out.Save(args.wiki) + if args.wiki_update: + if args.wiki_user and args.wiki_pass: + print("Updating wiki page " + args.wiki_update) + xmlrpc = dokuwikirpc.get_xmlrpc(args.wiki_url, args.wiki_user, args.wiki_pass) + xmlrpc.wiki.putPage(args.wiki_update, out.output, {'sum': args.wiki_summary}) + else: + print("Error: You need to specify DokuWiki XML-RPC username and password!") + + print("All done!") + + +if __name__ == "__main__": + main() diff --git a/Tools/px_romfs_pruner.py b/Tools/px_romfs_pruner.py new file mode 100644 index 0000000000..fcc40b09e1 --- /dev/null +++ b/Tools/px_romfs_pruner.py @@ -0,0 +1,84 @@ +#!/usr/bin/env python +############################################################################ +# +# Copyright (C) 2014 PX4 Development Team. All rights reserved. +# Author: Julian Oes + +# 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. +# +############################################################################ + + +""" +px_romfs_pruner.py: +Delete all comments and newlines before ROMFS is converted to an image +""" + +from __future__ import print_function +import argparse +import os + + +def main(): + + # Parse commandline arguments + parser = argparse.ArgumentParser(description="ROMFS pruner.") + parser.add_argument('--folder', action="store", help="ROMFS scratch folder.") + args = parser.parse_args() + + print("Pruning ROMFS files.") + + # go through + for (root, dirs, files) in os.walk(args.folder): + for file in files: + # only prune text files + if ".zip" in file or ".bin" in file or ".swp" in file: + continue + + file_path = os.path.join(root, file) + + # read file line by line + pruned_content = "" + with open(file_path, "r") as f: + for line in f: + + # handle mixer files differently than startup files + if file_path.endswith(".mix"): + if line.startswith(("Z:", "M:", "R: ", "O:", "S:")): + pruned_content += line + else: + if not line.isspace() and not line.strip().startswith("#"): + pruned_content += line + + # overwrite old scratch file + with open(file_path, "w") as f: + f.write(pruned_content) + + +if __name__ == '__main__': + main() diff --git a/Tools/px_update_wiki.sh b/Tools/px_update_wiki.sh new file mode 100644 index 0000000000..d66bb9e10b --- /dev/null +++ b/Tools/px_update_wiki.sh @@ -0,0 +1,2 @@ +# Remember to set the XMLRPCUSER and XMLRPCPASS environment variables +python px_process_params.py --wiki-update diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index e4a8b3c054..985e6ffd9d 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -389,18 +389,22 @@ class uploader(object): self.otp_pid = self.otp[12:8:-1] self.otp_coa = self.otp[32:160] # show user: - print("type: " + self.otp_id.decode('Latin-1')) - print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1')) - print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1')) - print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1')) - print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1')) - print("sn: ", end='') - for byte in range(0,12,4): - x = self.__getSN(byte) - x = x[::-1] # reverse the bytes - self.sn = self.sn + x - print(binascii.hexlify(x).decode('Latin-1'), end='') # show user - print('') + try: + print("type: " + self.otp_id.decode('Latin-1')) + print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1')) + print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1')) + print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1')) + print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1')) + print("sn: ", end='') + for byte in range(0,12,4): + x = self.__getSN(byte) + x = x[::-1] # reverse the bytes + self.sn = self.sn + x + print(binascii.hexlify(x).decode('Latin-1'), end='') # show user + print('') + except Exception: + # ignore bad character encodings + pass print("erase...") self.__erase() diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore index 61e0915515..87b314c614 100644 --- a/Tools/tests-host/.gitignore +++ b/Tools/tests-host/.gitignore @@ -1,2 +1,4 @@ ./obj/* mixer_test +sbus2_test +autodeclination_test diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile index 7ab1454f01..f0737ef88c 100644 --- a/Tools/tests-host/Makefile +++ b/Tools/tests-host/Makefile @@ -1,47 +1,39 @@ CC=g++ -CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0" +CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \ + -I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm -ODIR=obj -LDIR =../lib +all: mixer_test sbus2_test autodeclination_test -LIBS=-lm +MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \ + ../../src/systemcmds/tests/test_conv.cpp \ + ../../src/modules/systemlib/mixer/mixer_simple.cpp \ + ../../src/modules/systemlib/mixer/mixer_multirotor.cpp \ + ../../src/modules/systemlib/mixer/mixer.cpp \ + ../../src/modules/systemlib/mixer/mixer_group.cpp \ + ../../src/modules/systemlib/mixer/mixer_load.c \ + ../../src/modules/systemlib/pwm_limit/pwm_limit.c \ + hrt.cpp \ + mixer_test.cpp -#_DEPS = test.h -#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS)) +SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \ + hrt.cpp \ + sbus2_test.cpp -_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o \ - mixer.o mixer_group.o mixer_load.o test_conv.o pwm_limit.o hrt.o -OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ)) +AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \ + hrt.cpp \ + autodeclination_test.cpp -#$(DEPS) -$(ODIR)/%.o: %.cpp - mkdir -p obj - $(CC) -c -o $@ $< $(CFLAGS) +mixer_test: $(MIXER_FILES) + $(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS) -$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) +sbus2_test: $(SBUS2_FILES) + $(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS) -$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.c - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c - $(CC) -c -o $@ $< $(CFLAGS) - -# -mixer_test: $(OBJ) - g++ -o $@ $^ $(CFLAGS) $(LIBS) +autodeclination_test: $(SBUS2_FILES) + $(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS) .PHONY: clean clean: - rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ \ No newline at end of file + rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test \ No newline at end of file diff --git a/Tools/tests-host/autodeclination_test.cpp b/Tools/tests-host/autodeclination_test.cpp new file mode 100644 index 0000000000..93bc340bb3 --- /dev/null +++ b/Tools/tests-host/autodeclination_test.cpp @@ -0,0 +1,28 @@ + +#include +#include +#include +#include +#include +#include +#include +#include +#include "../../src/systemcmds/tests/tests.h" +#include + +int main(int argc, char *argv[]) { + warnx("autodeclination test started"); + + if (argc < 3) + errx(1, "Need lat/lon!"); + + char* p_end; + + float lat = strtod(argv[1], &p_end); + float lon = strtod(argv[2], &p_end); + + float declination = get_mag_declination(lat, lon); + + printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination); + +} diff --git a/Tools/tests-host/board_config.h b/Tools/tests-host/board_config.h new file mode 100644 index 0000000000..e69de29bb2 diff --git a/Tools/tests-host/debug.h b/Tools/tests-host/debug.h new file mode 100644 index 0000000000..9824d13fc3 --- /dev/null +++ b/Tools/tests-host/debug.h @@ -0,0 +1,5 @@ + +#pragma once + +#include +#define lowsyslog warnx \ No newline at end of file diff --git a/Tools/tests-host/mixer_test.cpp b/Tools/tests-host/mixer_test.cpp index e311617f96..06499afd0e 100644 --- a/Tools/tests-host/mixer_test.cpp +++ b/Tools/tests-host/mixer_test.cpp @@ -11,4 +11,4 @@ int main(int argc, char *argv[]) { test_mixer(3, args); test_conv(1, args); -} \ No newline at end of file +} diff --git a/Tools/tests-host/run_tests.sh b/Tools/tests-host/run_tests.sh new file mode 100755 index 0000000000..ff5ee509ac --- /dev/null +++ b/Tools/tests-host/run_tests.sh @@ -0,0 +1,6 @@ +#!/bin/sh + +make clean +make all +./mixer_test +./sbus2_test ../../../../data/sbus2/sbus2_r7008SB_gps_baro_tx_off.txt \ No newline at end of file diff --git a/Tools/tests-host/sbus2_test.cpp b/Tools/tests-host/sbus2_test.cpp new file mode 100644 index 0000000000..d8fcb695d8 --- /dev/null +++ b/Tools/tests-host/sbus2_test.cpp @@ -0,0 +1,75 @@ + +#include +#include +#include +#include +#include +#include +#include +#include "../../src/systemcmds/tests/tests.h" + +int main(int argc, char *argv[]) { + warnx("SBUS2 test started"); + + if (argc < 2) + errx(1, "Need a filename for the input file"); + + warnx("loading data from: %s", argv[1]); + + FILE *fp; + + fp = fopen(argv[1],"rt"); + + if (!fp) + errx(1, "failed opening file"); + + float f; + unsigned x; + int ret; + + // Trash the first 20 lines + for (unsigned i = 0; i < 20; i++) { + (void)fscanf(fp, "%f,%x,,", &f, &x); + } + + // Init the parser + uint8_t frame[30]; + unsigned partial_frame_count = 0; + uint16_t rc_values[18]; + uint16_t num_values; + bool sbus_failsafe; + bool sbus_frame_drop; + uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]); + + float last_time = 0; + + while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) { + if (((f - last_time) * 1000 * 1000) > 3000) { + partial_frame_count = 0; + warnx("FRAME RESET\n\n"); + } + + frame[partial_frame_count] = x; + partial_frame_count++; + + //warnx("%f: 0x%02x, first: 0x%02x, last: 0x%02x, pcount: %u", (double)f, x, frame[0], frame[24], partial_frame_count); + + if (partial_frame_count == sizeof(frame)) + partial_frame_count = 0; + + last_time = f; + + // Pipe the data into the parser + hrt_abstime now = hrt_absolute_time(); + + //if (partial_frame_count % 25 == 0) + //sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels); + } + + if (ret == EOF) { + warnx("Test finished, reached end of file"); + } else { + warnx("Test aborted, errno: %d", ret); + } + +} diff --git a/makefiles/board_aerocore.mk b/makefiles/board_aerocore.mk new file mode 100644 index 0000000000..6f4b932666 --- /dev/null +++ b/makefiles/board_aerocore.mk @@ -0,0 +1,11 @@ +# +# Board-specific definitions for the Gumstix AeroCore +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM4F +CONFIG_BOARD = AEROCORE + +include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk diff --git a/makefiles/config_aerocore_default.mk b/makefiles/config_aerocore_default.mk new file mode 100644 index 0000000000..d6902c4ee2 --- /dev/null +++ b/makefiles/config_aerocore_default.mk @@ -0,0 +1,125 @@ +# +# Makefile for the AeroCore *default* configuration +# + +# +# Use the configuration's ROMFS. +# +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/stm32/adc +MODULES += drivers/stm32/tone_alarm +MODULES += drivers/led +MODULES += drivers/px4fmu +MODULES += drivers/boards/aerocore +MODULES += drivers/lsm303d +MODULES += drivers/l3gd20 +MODULES += drivers/ms5611 +MODULES += drivers/gps +MODULES += drivers/hil +MODULES += modules/sensors + +# +# System commands +# +MODULES += systemcmds/boardinfo +MODULES += systemcmds/mixer +MODULES += systemcmds/param +MODULES += systemcmds/perf +MODULES += systemcmds/preflight_check +MODULES += systemcmds/pwm +MODULES += systemcmds/esc_calib +MODULES += systemcmds/reboot +MODULES += systemcmds/top +MODULES += systemcmds/config +MODULES += systemcmds/nshterm +MODULES += systemcmds/mtd +MODULES += systemcmds/dumpfile + +# +# General system control +# +MODULES += modules/commander +MODULES += modules/navigator +MODULES += modules/mavlink + +# +# Estimation modules (EKF/ SO3 / other filters) +# +MODULES += modules/attitude_estimator_ekf +MODULES += modules/attitude_estimator_so3 +MODULES += modules/ekf_att_pos_estimator +MODULES += modules/position_estimator_inav + +# +# Vehicle Control +# +MODULES += modules/fw_pos_control_l1 +MODULES += modules/fw_att_control +MODULES += modules/mc_att_control +MODULES += modules/mc_pos_control + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/systemlib/mixer +MODULES += modules/controllib +MODULES += modules/uORB +MODULES += modules/dataman + +# +# Libraries +# +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter +MODULES += lib/ecl +MODULES += lib/external_lgpl +MODULES += lib/geo +MODULES += lib/conversion +MODULES += lib/launchdetection + +# +# Demo apps +# +#MODULES += examples/math_demo +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/hello_sky +MODULES += examples/px4_simple_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/daemon +#MODULES += examples/px4_daemon_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/debug_values +#MODULES += examples/px4_mavlink_debug + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control +#MODULES += examples/fixedwing_control + +# Hardware test +#MODULES += examples/hwtest + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is ... but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +BUILTIN_COMMANDS := \ + $(call _B, hello, , 2048, hello_main) \ + $(call _B, i2c, , 2048, i2c_main) diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index aff614cbb3..810e008aeb 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -55,7 +55,8 @@ MODULES += systemcmds/top MODULES += systemcmds/tests MODULES += systemcmds/config MODULES += systemcmds/nshterm -MODULES += systemcmds/hw_ver +MODULES += systemcmds/dumpfile +MODULES += systemcmds/ver # # General system control @@ -69,7 +70,7 @@ MODULES += modules/gpio_led # Estimation modules (EKF/ SO3 / other filters) # MODULES += modules/attitude_estimator_ekf -MODULES += modules/att_pos_estimator_ekf +MODULES += modules/ekf_att_pos_estimator MODULES += modules/position_estimator_inav #MODULES += examples/flow_position_estimator diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 2ad2f63a95..d6e88859c1 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -27,6 +27,7 @@ MODULES += drivers/l3gd20 MODULES += drivers/hmc5883 MODULES += drivers/ms5611 MODULES += drivers/mb12xx +MODULES += drivers/sf0x MODULES += drivers/gps MODULES += drivers/hil MODULES += drivers/hott/hott_telemetry @@ -62,7 +63,8 @@ MODULES += systemcmds/tests MODULES += systemcmds/config MODULES += systemcmds/nshterm MODULES += systemcmds/mtd -MODULES += systemcmds/hw_ver +MODULES += systemcmds/dumpfile +MODULES += systemcmds/ver # # General system control @@ -70,14 +72,14 @@ MODULES += systemcmds/hw_ver MODULES += modules/commander MODULES += modules/navigator MODULES += modules/mavlink -MODULES += modules/mavlink_onboard +MODULES += modules/gpio_led # # Estimation modules (EKF/ SO3 / other filters) # MODULES += modules/attitude_estimator_ekf MODULES += modules/attitude_estimator_so3 -MODULES += modules/att_pos_estimator_ekf +MODULES += modules/ekf_att_pos_estimator MODULES += modules/position_estimator_inav MODULES += examples/flow_position_estimator diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index 79922374d7..84274bf754 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -29,7 +29,7 @@ MODULES += systemcmds/reboot MODULES += systemcmds/tests MODULES += systemcmds/nshterm MODULES += systemcmds/mtd -MODULES += systemcmds/hw_ver +MODULES += systemcmds/ver # # Library modules diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index cb20d9cd19..60602e76fe 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -113,7 +113,7 @@ endif $(info % GIT_DESC = $(GIT_DESC)) # -# Set a default target so that included makefiles or errors here don't +# Set a default target so that included makefiles or errors here don't # cause confusion. # # XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one @@ -177,7 +177,7 @@ GLOBAL_DEPS += $(MAKEFILE_LIST) # # Extra things we should clean # -EXTRA_CLEANS = +EXTRA_CLEANS = # @@ -355,6 +355,9 @@ ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) LIBS += $(ROMFS_OBJ) LINK_DEPS += $(ROMFS_OBJ) +# Remove all comments from startup and mixer files +ROMFS_PRUNER = $(PX4_BASE)/Tools/px_romfs_pruner.py + # Turn the ROMFS image into an object file $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS) $(call BIN_TO_OBJ,$<,$@,romfs_img) @@ -368,10 +371,13 @@ $(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS) $(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH) $(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH) +# delete all files in ROMFS_SCRATCH which start with a . or end with a ~ + $(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~ ifneq ($(ROMFS_EXTRA_FILES),) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras $(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras endif + $(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH) EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG) diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index bb729e1032..b519e0e7a1 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -1,5 +1,5 @@ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (C) 2012-2014 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -125,7 +125,11 @@ ARCHWARNINGS = -Wall \ -Wlogical-op \ -Wmissing-declarations \ -Wpacked \ - -Wno-unused-parameter + -Wno-unused-parameter \ + -Werror=format-security \ + -Werror=array-bounds \ + -Wfatal-errors \ + -Wformat=1 # -Wcast-qual - generates spurious noreturn attribute warnings, try again later # -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code # -Wcast-align - would help catch bad casts in some cases, but generates too many false positives @@ -142,7 +146,8 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \ # C++-specific warnings # -ARCHWARNINGSXX = $(ARCHWARNINGS) +ARCHWARNINGSXX = $(ARCHWARNINGS) \ + -Wno-missing-field-initializers # pull in *just* libm from the toolchain ... this is grody LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a) diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h index 2acb7965ca..c887dc68a1 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 0, 0, 0, 0, 0, 13, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 8, 48, 19, 3, 0, 24, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 42, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 8, 48, 19, 3, 20, 24, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 0, 0, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 154, 21, 21, 144, 1, 234, 73, 181, 22, 83, 167, 138, 234, 0, 47, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 154, 21, 21, 144, 1, 234, 73, 181, 22, 83, 167, 138, 234, 240, 47, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, MAVLINK_MESSAGE_INFO_DATA16, MAVLINK_MESSAGE_INFO_DATA32, MAVLINK_MESSAGE_INFO_DATA64, MAVLINK_MESSAGE_INFO_DATA96, MAVLINK_MESSAGE_INFO_RANGEFINDER, MAVLINK_MESSAGE_INFO_AIRSPEED_AUTOCAL, MAVLINK_MESSAGE_INFO_RALLY_POINT, MAVLINK_MESSAGE_INFO_RALLY_FETCH_POINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_AHRS2, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_RC_CHANNELS, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, MAVLINK_MESSAGE_INFO_DATA16, MAVLINK_MESSAGE_INFO_DATA32, MAVLINK_MESSAGE_INFO_DATA64, MAVLINK_MESSAGE_INFO_DATA96, MAVLINK_MESSAGE_INFO_RANGEFINDER, MAVLINK_MESSAGE_INFO_AIRSPEED_AUTOCAL, MAVLINK_MESSAGE_INFO_RALLY_POINT, MAVLINK_MESSAGE_INFO_RALLY_FETCH_POINT, MAVLINK_MESSAGE_INFO_COMPASSMOT_STATUS, MAVLINK_MESSAGE_INFO_AHRS2, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" @@ -30,95 +30,6 @@ extern "C" { // ENUM DEFINITIONS -/** @brief Enumeration of possible mount operation modes */ -#ifndef HAVE_ENUM_MAV_MOUNT_MODE -#define HAVE_ENUM_MAV_MOUNT_MODE -enum MAV_MOUNT_MODE -{ - MAV_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization | */ - MAV_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. | */ - MAV_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */ - MAV_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */ - MAV_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */ - MAV_MOUNT_MODE_ENUM_END=5, /* | */ -}; -#endif - -/** @brief */ -#ifndef HAVE_ENUM_MAV_CMD -#define HAVE_ENUM_MAV_CMD -enum MAV_CMD -{ - MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ - MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ - MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ - MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ - MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ - MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ - MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ - MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ - MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ - MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ - MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ - MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ - MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ - MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ - MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */ - MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */ - MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */ - MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ - MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ - MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ - MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ - MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ - MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */ - MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ - MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */ - MAV_CMD_ENUM_END=501, /* | */ -}; -#endif - -/** @brief */ -#ifndef HAVE_ENUM_FENCE_ACTION -#define HAVE_ENUM_FENCE_ACTION -enum FENCE_ACTION -{ - FENCE_ACTION_NONE=0, /* Disable fenced mode | */ - FENCE_ACTION_GUIDED=1, /* Switched to guided mode to return point (fence point 0) | */ - FENCE_ACTION_REPORT=2, /* Report fence breach, but don't take action | */ - FENCE_ACTION_GUIDED_THR_PASS=3, /* Switched to guided mode to return point (fence point 0) with manual throttle control | */ - FENCE_ACTION_ENUM_END=4, /* | */ -}; -#endif - -/** @brief */ -#ifndef HAVE_ENUM_FENCE_BREACH -#define HAVE_ENUM_FENCE_BREACH -enum FENCE_BREACH -{ - FENCE_BREACH_NONE=0, /* No last fence breach | */ - FENCE_BREACH_MINALT=1, /* Breached minimum altitude | */ - FENCE_BREACH_MAXALT=2, /* Breached maximum altitude | */ - FENCE_BREACH_BOUNDARY=3, /* Breached fence boundary | */ - FENCE_BREACH_ENUM_END=4, /* | */ -}; -#endif - /** @brief */ #ifndef HAVE_ENUM_LIMITS_STATE #define HAVE_ENUM_LIMITS_STATE @@ -157,6 +68,18 @@ enum RALLY_FLAGS }; #endif +/** @brief */ +#ifndef HAVE_ENUM_PARACHUTE_ACTION +#define HAVE_ENUM_PARACHUTE_ACTION +enum PARACHUTE_ACTION +{ + PARACHUTE_DISABLE=0, /* Disable parachute release | */ + PARACHUTE_ENABLE=1, /* Enable parachute release | */ + PARACHUTE_RELEASE=2, /* Release parachute | */ + PARACHUTE_ACTION_ENUM_END=3, /* | */ +}; +#endif + #include "../common/common.h" // MAVLINK VERSION @@ -197,6 +120,7 @@ enum RALLY_FLAGS #include "./mavlink_msg_airspeed_autocal.h" #include "./mavlink_msg_rally_point.h" #include "./mavlink_msg_rally_fetch_point.h" +#include "./mavlink_msg_compassmot_status.h" #include "./mavlink_msg_ahrs2.h" #ifdef __cplusplus diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h index c3ead11401..50ddc79e5a 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, #endif } +#if MAVLINK_MSG_ID_AHRS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_ahrs_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, omegaIx); + _mav_put_float(buf, 4, omegaIy); + _mav_put_float(buf, 8, omegaIz); + _mav_put_float(buf, 12, accel_weight); + _mav_put_float(buf, 16, renorm_val); + _mav_put_float(buf, 20, error_rp); + _mav_put_float(buf, 24, error_yaw); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_LEN); +#endif +#else + mavlink_ahrs_t *packet = (mavlink_ahrs_t *)msgbuf; + packet->omegaIx = omegaIx; + packet->omegaIy = omegaIy; + packet->omegaIz = omegaIz; + packet->accel_weight = accel_weight; + packet->renorm_val = renorm_val; + packet->error_rp = error_rp; + packet->error_yaw = error_yaw; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)packet, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)packet, MAVLINK_MSG_ID_AHRS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE AHRS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs2.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs2.h index f6fde9590c..33e0066882 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs2.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs2.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_ahrs2_send(mavlink_channel_t chan, float roll, fl #endif } +#if MAVLINK_MSG_ID_AHRS2_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_ahrs2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, altitude); + _mav_put_int32_t(buf, 16, lat); + _mav_put_int32_t(buf, 20, lng); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_LEN); +#endif +#else + mavlink_ahrs2_t *packet = (mavlink_ahrs2_t *)msgbuf; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->altitude = altitude; + packet->lat = lat; + packet->lng = lng; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)packet, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)packet, MAVLINK_MSG_ID_AHRS2_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE AHRS2 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_airspeed_autocal.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_airspeed_autocal.h index d046f2ad09..521831c8ff 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_airspeed_autocal.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_airspeed_autocal.h @@ -267,6 +267,60 @@ static inline void mavlink_msg_airspeed_autocal_send(mavlink_channel_t chan, flo #endif } +#if MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_airspeed_autocal_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float vx, float vy, float vz, float diff_pressure, float EAS2TAS, float ratio, float state_x, float state_y, float state_z, float Pax, float Pby, float Pcz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, vx); + _mav_put_float(buf, 4, vy); + _mav_put_float(buf, 8, vz); + _mav_put_float(buf, 12, diff_pressure); + _mav_put_float(buf, 16, EAS2TAS); + _mav_put_float(buf, 20, ratio); + _mav_put_float(buf, 24, state_x); + _mav_put_float(buf, 28, state_y); + _mav_put_float(buf, 32, state_z); + _mav_put_float(buf, 36, Pax); + _mav_put_float(buf, 40, Pby); + _mav_put_float(buf, 44, Pcz); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN); +#endif +#else + mavlink_airspeed_autocal_t *packet = (mavlink_airspeed_autocal_t *)msgbuf; + packet->vx = vx; + packet->vy = vy; + packet->vz = vz; + packet->diff_pressure = diff_pressure; + packet->EAS2TAS = EAS2TAS; + packet->ratio = ratio; + packet->state_x = state_x; + packet->state_y = state_y; + packet->state_z = state_z; + packet->Pax = Pax; + packet->Pby = Pby; + packet->Pcz = Pcz; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, (const char *)packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, (const char *)packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE AIRSPEED_AUTOCAL UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h index 821ce73e47..3c18e644ef 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1 #endif } +#if MAVLINK_MSG_ID_AP_ADC_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_ap_adc_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, adc1); + _mav_put_uint16_t(buf, 2, adc2); + _mav_put_uint16_t(buf, 4, adc3); + _mav_put_uint16_t(buf, 6, adc4); + _mav_put_uint16_t(buf, 8, adc5); + _mav_put_uint16_t(buf, 10, adc6); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, MAVLINK_MSG_ID_AP_ADC_LEN); +#endif +#else + mavlink_ap_adc_t *packet = (mavlink_ap_adc_t *)msgbuf; + packet->adc1 = adc1; + packet->adc2 = adc2; + packet->adc3 = adc3; + packet->adc4 = adc4; + packet->adc5 = adc5; + packet->adc6 = adc6; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)packet, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)packet, MAVLINK_MSG_ID_AP_ADC_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE AP_ADC UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_compassmot_status.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_compassmot_status.h new file mode 100644 index 0000000000..9655459889 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_compassmot_status.h @@ -0,0 +1,329 @@ +// MESSAGE COMPASSMOT_STATUS PACKING + +#define MAVLINK_MSG_ID_COMPASSMOT_STATUS 177 + +typedef struct __mavlink_compassmot_status_t +{ + float current; ///< current (amps) + float CompensationX; ///< Motor Compensation X + float CompensationY; ///< Motor Compensation Y + float CompensationZ; ///< Motor Compensation Z + uint16_t throttle; ///< throttle (percent*10) + uint16_t interference; ///< interference (percent) +} mavlink_compassmot_status_t; + +#define MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN 20 +#define MAVLINK_MSG_ID_177_LEN 20 + +#define MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC 240 +#define MAVLINK_MSG_ID_177_CRC 240 + + + +#define MAVLINK_MESSAGE_INFO_COMPASSMOT_STATUS { \ + "COMPASSMOT_STATUS", \ + 6, \ + { { "current", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_compassmot_status_t, current) }, \ + { "CompensationX", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_compassmot_status_t, CompensationX) }, \ + { "CompensationY", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_compassmot_status_t, CompensationY) }, \ + { "CompensationZ", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_compassmot_status_t, CompensationZ) }, \ + { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_compassmot_status_t, throttle) }, \ + { "interference", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_compassmot_status_t, interference) }, \ + } \ +} + + +/** + * @brief Pack a compassmot_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param throttle throttle (percent*10) + * @param current current (amps) + * @param interference interference (percent) + * @param CompensationX Motor Compensation X + * @param CompensationY Motor Compensation Y + * @param CompensationZ Motor Compensation Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_compassmot_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t throttle, float current, uint16_t interference, float CompensationX, float CompensationY, float CompensationZ) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN]; + _mav_put_float(buf, 0, current); + _mav_put_float(buf, 4, CompensationX); + _mav_put_float(buf, 8, CompensationY); + _mav_put_float(buf, 12, CompensationZ); + _mav_put_uint16_t(buf, 16, throttle); + _mav_put_uint16_t(buf, 18, interference); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN); +#else + mavlink_compassmot_status_t packet; + packet.current = current; + packet.CompensationX = CompensationX; + packet.CompensationY = CompensationY; + packet.CompensationZ = CompensationZ; + packet.throttle = throttle; + packet.interference = interference; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_COMPASSMOT_STATUS; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN); +#endif +} + +/** + * @brief Pack a compassmot_status message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param throttle throttle (percent*10) + * @param current current (amps) + * @param interference interference (percent) + * @param CompensationX Motor Compensation X + * @param CompensationY Motor Compensation Y + * @param CompensationZ Motor Compensation Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_compassmot_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t throttle,float current,uint16_t interference,float CompensationX,float CompensationY,float CompensationZ) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN]; + _mav_put_float(buf, 0, current); + _mav_put_float(buf, 4, CompensationX); + _mav_put_float(buf, 8, CompensationY); + _mav_put_float(buf, 12, CompensationZ); + _mav_put_uint16_t(buf, 16, throttle); + _mav_put_uint16_t(buf, 18, interference); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN); +#else + mavlink_compassmot_status_t packet; + packet.current = current; + packet.CompensationX = CompensationX; + packet.CompensationY = CompensationY; + packet.CompensationZ = CompensationZ; + packet.throttle = throttle; + packet.interference = interference; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_COMPASSMOT_STATUS; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN); +#endif +} + +/** + * @brief Encode a compassmot_status struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param compassmot_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_compassmot_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_compassmot_status_t* compassmot_status) +{ + return mavlink_msg_compassmot_status_pack(system_id, component_id, msg, compassmot_status->throttle, compassmot_status->current, compassmot_status->interference, compassmot_status->CompensationX, compassmot_status->CompensationY, compassmot_status->CompensationZ); +} + +/** + * @brief Encode a compassmot_status struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param compassmot_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_compassmot_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_compassmot_status_t* compassmot_status) +{ + return mavlink_msg_compassmot_status_pack_chan(system_id, component_id, chan, msg, compassmot_status->throttle, compassmot_status->current, compassmot_status->interference, compassmot_status->CompensationX, compassmot_status->CompensationY, compassmot_status->CompensationZ); +} + +/** + * @brief Send a compassmot_status message + * @param chan MAVLink channel to send the message + * + * @param throttle throttle (percent*10) + * @param current current (amps) + * @param interference interference (percent) + * @param CompensationX Motor Compensation X + * @param CompensationY Motor Compensation Y + * @param CompensationZ Motor Compensation Z + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_compassmot_status_send(mavlink_channel_t chan, uint16_t throttle, float current, uint16_t interference, float CompensationX, float CompensationY, float CompensationZ) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN]; + _mav_put_float(buf, 0, current); + _mav_put_float(buf, 4, CompensationX); + _mav_put_float(buf, 8, CompensationY); + _mav_put_float(buf, 12, CompensationZ); + _mav_put_uint16_t(buf, 16, throttle); + _mav_put_uint16_t(buf, 18, interference); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN); +#endif +#else + mavlink_compassmot_status_t packet; + packet.current = current; + packet.CompensationX = CompensationX; + packet.CompensationY = CompensationY; + packet.CompensationZ = CompensationZ; + packet.throttle = throttle; + packet.interference = interference; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_compassmot_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t throttle, float current, uint16_t interference, float CompensationX, float CompensationY, float CompensationZ) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, current); + _mav_put_float(buf, 4, CompensationX); + _mav_put_float(buf, 8, CompensationY); + _mav_put_float(buf, 12, CompensationZ); + _mav_put_uint16_t(buf, 16, throttle); + _mav_put_uint16_t(buf, 18, interference); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, buf, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN); +#endif +#else + mavlink_compassmot_status_t *packet = (mavlink_compassmot_status_t *)msgbuf; + packet->current = current; + packet->CompensationX = CompensationX; + packet->CompensationY = CompensationY; + packet->CompensationZ = CompensationZ; + packet->throttle = throttle; + packet->interference = interference; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN, MAVLINK_MSG_ID_COMPASSMOT_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMPASSMOT_STATUS, (const char *)packet, MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE COMPASSMOT_STATUS UNPACKING + + +/** + * @brief Get field throttle from compassmot_status message + * + * @return throttle (percent*10) + */ +static inline uint16_t mavlink_msg_compassmot_status_get_throttle(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 16); +} + +/** + * @brief Get field current from compassmot_status message + * + * @return current (amps) + */ +static inline float mavlink_msg_compassmot_status_get_current(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field interference from compassmot_status message + * + * @return interference (percent) + */ +static inline uint16_t mavlink_msg_compassmot_status_get_interference(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 18); +} + +/** + * @brief Get field CompensationX from compassmot_status message + * + * @return Motor Compensation X + */ +static inline float mavlink_msg_compassmot_status_get_CompensationX(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field CompensationY from compassmot_status message + * + * @return Motor Compensation Y + */ +static inline float mavlink_msg_compassmot_status_get_CompensationY(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field CompensationZ from compassmot_status message + * + * @return Motor Compensation Z + */ +static inline float mavlink_msg_compassmot_status_get_CompensationZ(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Decode a compassmot_status message into a struct + * + * @param msg The message to decode + * @param compassmot_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_compassmot_status_decode(const mavlink_message_t* msg, mavlink_compassmot_status_t* compassmot_status) +{ +#if MAVLINK_NEED_BYTE_SWAP + compassmot_status->current = mavlink_msg_compassmot_status_get_current(msg); + compassmot_status->CompensationX = mavlink_msg_compassmot_status_get_CompensationX(msg); + compassmot_status->CompensationY = mavlink_msg_compassmot_status_get_CompensationY(msg); + compassmot_status->CompensationZ = mavlink_msg_compassmot_status_get_CompensationZ(msg); + compassmot_status->throttle = mavlink_msg_compassmot_status_get_throttle(msg); + compassmot_status->interference = mavlink_msg_compassmot_status_get_interference(msg); +#else + memcpy(compassmot_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_COMPASSMOT_STATUS_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h index 9200eefa0d..7bad1b23de 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h @@ -162,6 +162,40 @@ static inline void mavlink_msg_data16_send(mavlink_channel_t chan, uint8_t type, #endif } +#if MAVLINK_MSG_ID_DATA16_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_data16_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN); +#endif +#else + mavlink_data16_t *packet = (mavlink_data16_t *)msgbuf; + packet->type = type; + packet->len = len; + mav_array_memcpy(packet->data, data, sizeof(uint8_t)*16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)packet, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)packet, MAVLINK_MSG_ID_DATA16_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE DATA16 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h index 3afedb7874..df7a2ec801 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h @@ -162,6 +162,40 @@ static inline void mavlink_msg_data32_send(mavlink_channel_t chan, uint8_t type, #endif } +#if MAVLINK_MSG_ID_DATA32_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_data32_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 32); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN); +#endif +#else + mavlink_data32_t *packet = (mavlink_data32_t *)msgbuf; + packet->type = type; + packet->len = len; + mav_array_memcpy(packet->data, data, sizeof(uint8_t)*32); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)packet, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)packet, MAVLINK_MSG_ID_DATA32_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE DATA32 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h index 6931ada167..c354f8908a 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h @@ -162,6 +162,40 @@ static inline void mavlink_msg_data64_send(mavlink_channel_t chan, uint8_t type, #endif } +#if MAVLINK_MSG_ID_DATA64_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_data64_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 64); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, MAVLINK_MSG_ID_DATA64_LEN); +#endif +#else + mavlink_data64_t *packet = (mavlink_data64_t *)msgbuf; + packet->type = type; + packet->len = len; + mav_array_memcpy(packet->data, data, sizeof(uint8_t)*64); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)packet, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)packet, MAVLINK_MSG_ID_DATA64_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE DATA64 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h index cffc7d7e7f..634e3f81d5 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h @@ -162,6 +162,40 @@ static inline void mavlink_msg_data96_send(mavlink_channel_t chan, uint8_t type, #endif } +#if MAVLINK_MSG_ID_DATA96_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_data96_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, type); + _mav_put_uint8_t(buf, 1, len); + _mav_put_uint8_t_array(buf, 2, data, 96); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN); +#endif +#else + mavlink_data96_t *packet = (mavlink_data96_t *)msgbuf; + packet->type = type; + packet->len = len; + mav_array_memcpy(packet->data, data, sizeof(uint8_t)*96); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)packet, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)packet, MAVLINK_MSG_ID_DATA96_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE DATA96 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h index c6518c4199..d5f9e7132c 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h @@ -256,6 +256,58 @@ static inline void mavlink_msg_digicam_configure_send(mavlink_channel_t chan, ui #endif } +#if MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_digicam_configure_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, extra_value); + _mav_put_uint16_t(buf, 4, shutter_speed); + _mav_put_uint8_t(buf, 6, target_system); + _mav_put_uint8_t(buf, 7, target_component); + _mav_put_uint8_t(buf, 8, mode); + _mav_put_uint8_t(buf, 9, aperture); + _mav_put_uint8_t(buf, 10, iso); + _mav_put_uint8_t(buf, 11, exposure_type); + _mav_put_uint8_t(buf, 12, command_id); + _mav_put_uint8_t(buf, 13, engine_cut_off); + _mav_put_uint8_t(buf, 14, extra_param); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN); +#endif +#else + mavlink_digicam_configure_t *packet = (mavlink_digicam_configure_t *)msgbuf; + packet->extra_value = extra_value; + packet->shutter_speed = shutter_speed; + packet->target_system = target_system; + packet->target_component = target_component; + packet->mode = mode; + packet->aperture = aperture; + packet->iso = iso; + packet->exposure_type = exposure_type; + packet->command_id = command_id; + packet->engine_cut_off = engine_cut_off; + packet->extra_param = extra_param; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE DIGICAM_CONFIGURE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h index bfa5414a39..68484f7b84 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h @@ -245,6 +245,56 @@ static inline void mavlink_msg_digicam_control_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_digicam_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, extra_value); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + _mav_put_uint8_t(buf, 6, session); + _mav_put_uint8_t(buf, 7, zoom_pos); + _mav_put_int8_t(buf, 8, zoom_step); + _mav_put_uint8_t(buf, 9, focus_lock); + _mav_put_uint8_t(buf, 10, shot); + _mav_put_uint8_t(buf, 11, command_id); + _mav_put_uint8_t(buf, 12, extra_param); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN); +#endif +#else + mavlink_digicam_control_t *packet = (mavlink_digicam_control_t *)msgbuf; + packet->extra_value = extra_value; + packet->target_system = target_system; + packet->target_component = target_component; + packet->session = session; + packet->zoom_pos = zoom_pos; + packet->zoom_step = zoom_step; + packet->focus_lock = focus_lock; + packet->shot = shot; + packet->command_id = command_id; + packet->extra_param = extra_param; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE DIGICAM_CONTROL UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h index fe3677d53d..4021c7a096 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_fence_fetch_point_send(mavlink_channel_t chan, ui #endif } +#if MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_fence_fetch_point_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, idx); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN); +#endif +#else + mavlink_fence_fetch_point_t *packet = (mavlink_fence_fetch_point_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + packet->idx = idx; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FENCE_FETCH_POINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h index febda6cdc5..6fc2c83fc4 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_fence_point_send(mavlink_channel_t chan, uint8_t #endif } +#if MAVLINK_MSG_ID_FENCE_POINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_fence_point_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, lat); + _mav_put_float(buf, 4, lng); + _mav_put_uint8_t(buf, 8, target_system); + _mav_put_uint8_t(buf, 9, target_component); + _mav_put_uint8_t(buf, 10, idx); + _mav_put_uint8_t(buf, 11, count); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, MAVLINK_MSG_ID_FENCE_POINT_LEN); +#endif +#else + mavlink_fence_point_t *packet = (mavlink_fence_point_t *)msgbuf; + packet->lat = lat; + packet->lng = lng; + packet->target_system = target_system; + packet->target_component = target_component; + packet->idx = idx; + packet->count = count; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)packet, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)packet, MAVLINK_MSG_ID_FENCE_POINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FENCE_POINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h index 6120904061..c50d37724e 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_fence_status_send(mavlink_channel_t chan, uint8_t #endif } +#if MAVLINK_MSG_ID_FENCE_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_fence_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, breach_time); + _mav_put_uint16_t(buf, 4, breach_count); + _mav_put_uint8_t(buf, 6, breach_status); + _mav_put_uint8_t(buf, 7, breach_type); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN); +#endif +#else + mavlink_fence_status_t *packet = (mavlink_fence_status_t *)msgbuf; + packet->breach_time = breach_time; + packet->breach_count = breach_count; + packet->breach_status = breach_status; + packet->breach_type = breach_type; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FENCE_STATUS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h index 2f5dea513a..acf031f62d 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_hwstatus_send(mavlink_channel_t chan, uint16_t Vc #endif } +#if MAVLINK_MSG_ID_HWSTATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_hwstatus_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t Vcc, uint8_t I2Cerr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, Vcc); + _mav_put_uint8_t(buf, 2, I2Cerr); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_LEN); +#endif +#else + mavlink_hwstatus_t *packet = (mavlink_hwstatus_t *)msgbuf; + packet->Vcc = Vcc; + packet->I2Cerr = I2Cerr; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)packet, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)packet, MAVLINK_MSG_ID_HWSTATUS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE HWSTATUS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h index 34743fd021..5fef937181 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h @@ -234,6 +234,54 @@ static inline void mavlink_msg_limits_status_send(mavlink_channel_t chan, uint8_ #endif } +#if MAVLINK_MSG_ID_LIMITS_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_limits_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t limits_state, uint32_t last_trigger, uint32_t last_action, uint32_t last_recovery, uint32_t last_clear, uint16_t breach_count, uint8_t mods_enabled, uint8_t mods_required, uint8_t mods_triggered) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, last_trigger); + _mav_put_uint32_t(buf, 4, last_action); + _mav_put_uint32_t(buf, 8, last_recovery); + _mav_put_uint32_t(buf, 12, last_clear); + _mav_put_uint16_t(buf, 16, breach_count); + _mav_put_uint8_t(buf, 18, limits_state); + _mav_put_uint8_t(buf, 19, mods_enabled); + _mav_put_uint8_t(buf, 20, mods_required); + _mav_put_uint8_t(buf, 21, mods_triggered); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN); +#endif +#else + mavlink_limits_status_t *packet = (mavlink_limits_status_t *)msgbuf; + packet->last_trigger = last_trigger; + packet->last_action = last_action; + packet->last_recovery = last_recovery; + packet->last_clear = last_clear; + packet->breach_count = breach_count; + packet->limits_state = limits_state; + packet->mods_enabled = mods_enabled; + packet->mods_required = mods_required; + packet->mods_triggered = mods_triggered; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LIMITS_STATUS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h index 55f772bbc5..c64b2e9377 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brk #endif } +#if MAVLINK_MSG_ID_MEMINFO_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_meminfo_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t brkval, uint16_t freemem) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, brkval); + _mav_put_uint16_t(buf, 2, freemem); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, MAVLINK_MSG_ID_MEMINFO_LEN); +#endif +#else + mavlink_meminfo_t *packet = (mavlink_meminfo_t *)msgbuf; + packet->brkval = brkval; + packet->freemem = freemem; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)packet, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)packet, MAVLINK_MSG_ID_MEMINFO_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MEMINFO UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h index de717dfa4d..350bb0b785 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_mount_configure_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mount_configure_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, mount_mode); + _mav_put_uint8_t(buf, 3, stab_roll); + _mav_put_uint8_t(buf, 4, stab_pitch); + _mav_put_uint8_t(buf, 5, stab_yaw); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN); +#endif +#else + mavlink_mount_configure_t *packet = (mavlink_mount_configure_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + packet->mount_mode = mount_mode; + packet->stab_roll = stab_roll; + packet->stab_pitch = stab_pitch; + packet->stab_yaw = stab_yaw; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MOUNT_CONFIGURE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h index 44416353ed..72d6e24197 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_mount_control_send(mavlink_channel_t chan, uint8_ #endif } +#if MAVLINK_MSG_ID_MOUNT_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mount_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, input_a); + _mav_put_int32_t(buf, 4, input_b); + _mav_put_int32_t(buf, 8, input_c); + _mav_put_uint8_t(buf, 12, target_system); + _mav_put_uint8_t(buf, 13, target_component); + _mav_put_uint8_t(buf, 14, save_position); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN); +#endif +#else + mavlink_mount_control_t *packet = (mavlink_mount_control_t *)msgbuf; + packet->input_a = input_a; + packet->input_b = input_b; + packet->input_c = input_c; + packet->target_system = target_system; + packet->target_component = target_component; + packet->save_position = save_position; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MOUNT_CONTROL UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h index 4905905dc5..c140dd2c7d 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_mount_status_send(mavlink_channel_t chan, uint8_t #endif } +#if MAVLINK_MSG_ID_MOUNT_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mount_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, pointing_a); + _mav_put_int32_t(buf, 4, pointing_b); + _mav_put_int32_t(buf, 8, pointing_c); + _mav_put_uint8_t(buf, 12, target_system); + _mav_put_uint8_t(buf, 13, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN); +#endif +#else + mavlink_mount_status_t *packet = (mavlink_mount_status_t *)msgbuf; + packet->pointing_a = pointing_a; + packet->pointing_b = pointing_b; + packet->pointing_c = pointing_c; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MOUNT_STATUS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h index 8e9740e828..830eb4639a 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, #endif } +#if MAVLINK_MSG_ID_RADIO_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_radio_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, rxerrors); + _mav_put_uint16_t(buf, 2, fixed); + _mav_put_uint8_t(buf, 4, rssi); + _mav_put_uint8_t(buf, 5, remrssi); + _mav_put_uint8_t(buf, 6, txbuf); + _mav_put_uint8_t(buf, 7, noise); + _mav_put_uint8_t(buf, 8, remnoise); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_LEN); +#endif +#else + mavlink_radio_t *packet = (mavlink_radio_t *)msgbuf; + packet->rxerrors = rxerrors; + packet->fixed = fixed; + packet->rssi = rssi; + packet->remrssi = remrssi; + packet->txbuf = txbuf; + packet->noise = noise; + packet->remnoise = remnoise; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)packet, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)packet, MAVLINK_MSG_ID_RADIO_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RADIO UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h index f057e3c335..4598251fe1 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_rally_fetch_point_send(mavlink_channel_t chan, ui #endif } +#if MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_rally_fetch_point_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, idx); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN); +#endif +#else + mavlink_rally_fetch_point_t *packet = (mavlink_rally_fetch_point_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + packet->idx = idx; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, (const char *)packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, (const char *)packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RALLY_FETCH_POINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h index 2c21db4c0e..b44e764a94 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h @@ -245,6 +245,56 @@ static inline void mavlink_msg_rally_point_send(mavlink_channel_t chan, uint8_t #endif } +#if MAVLINK_MSG_ID_RALLY_POINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_rally_point_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, lat); + _mav_put_int32_t(buf, 4, lng); + _mav_put_int16_t(buf, 8, alt); + _mav_put_int16_t(buf, 10, break_alt); + _mav_put_uint16_t(buf, 12, land_dir); + _mav_put_uint8_t(buf, 14, target_system); + _mav_put_uint8_t(buf, 15, target_component); + _mav_put_uint8_t(buf, 16, idx); + _mav_put_uint8_t(buf, 17, count); + _mav_put_uint8_t(buf, 18, flags); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_LEN); +#endif +#else + mavlink_rally_point_t *packet = (mavlink_rally_point_t *)msgbuf; + packet->lat = lat; + packet->lng = lng; + packet->alt = alt; + packet->break_alt = break_alt; + packet->land_dir = land_dir; + packet->target_system = target_system; + packet->target_component = target_component; + packet->idx = idx; + packet->count = count; + packet->flags = flags; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)packet, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)packet, MAVLINK_MSG_ID_RALLY_POINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RALLY_POINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h index c476447a87..464ce8a47f 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_rangefinder_send(mavlink_channel_t chan, float di #endif } +#if MAVLINK_MSG_ID_RANGEFINDER_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_rangefinder_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float distance, float voltage) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, distance); + _mav_put_float(buf, 4, voltage); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN); +#endif +#else + mavlink_rangefinder_t *packet = (mavlink_rangefinder_t *)msgbuf; + packet->distance = distance; + packet->voltage = voltage; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)packet, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)packet, MAVLINK_MSG_ID_RANGEFINDER_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RANGEFINDER UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h index 31b7d989de..d18f31c954 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h @@ -267,6 +267,60 @@ static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16 #endif } +#if MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_sensor_offsets_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, mag_declination); + _mav_put_int32_t(buf, 4, raw_press); + _mav_put_int32_t(buf, 8, raw_temp); + _mav_put_float(buf, 12, gyro_cal_x); + _mav_put_float(buf, 16, gyro_cal_y); + _mav_put_float(buf, 20, gyro_cal_z); + _mav_put_float(buf, 24, accel_cal_x); + _mav_put_float(buf, 28, accel_cal_y); + _mav_put_float(buf, 32, accel_cal_z); + _mav_put_int16_t(buf, 36, mag_ofs_x); + _mav_put_int16_t(buf, 38, mag_ofs_y); + _mav_put_int16_t(buf, 40, mag_ofs_z); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN); +#endif +#else + mavlink_sensor_offsets_t *packet = (mavlink_sensor_offsets_t *)msgbuf; + packet->mag_declination = mag_declination; + packet->raw_press = raw_press; + packet->raw_temp = raw_temp; + packet->gyro_cal_x = gyro_cal_x; + packet->gyro_cal_y = gyro_cal_y; + packet->gyro_cal_z = gyro_cal_z; + packet->accel_cal_x = accel_cal_x; + packet->accel_cal_y = accel_cal_y; + packet->accel_cal_z = accel_cal_z; + packet->mag_ofs_x = mag_ofs_x; + packet->mag_ofs_y = mag_ofs_y; + packet->mag_ofs_z = mag_ofs_z; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SENSOR_OFFSETS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h index b2c629c39a..fc6aa71e06 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_mag_offsets_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int16_t(buf, 0, mag_ofs_x); + _mav_put_int16_t(buf, 2, mag_ofs_y); + _mav_put_int16_t(buf, 4, mag_ofs_z); + _mav_put_uint8_t(buf, 6, target_system); + _mav_put_uint8_t(buf, 7, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN); +#endif +#else + mavlink_set_mag_offsets_t *packet = (mavlink_set_mag_offsets_t *)msgbuf; + packet->mag_ofs_x = mag_ofs_x; + packet->mag_ofs_y = mag_ofs_y; + packet->mag_ofs_z = mag_ofs_z; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_MAG_OFFSETS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h index 8ef44f76d5..48cfb6ffd5 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h @@ -256,6 +256,58 @@ static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, #endif } +#if MAVLINK_MSG_ID_SIMSTATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_simstate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, xacc); + _mav_put_float(buf, 16, yacc); + _mav_put_float(buf, 20, zacc); + _mav_put_float(buf, 24, xgyro); + _mav_put_float(buf, 28, ygyro); + _mav_put_float(buf, 32, zgyro); + _mav_put_int32_t(buf, 36, lat); + _mav_put_int32_t(buf, 40, lng); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_LEN); +#endif +#else + mavlink_simstate_t *packet = (mavlink_simstate_t *)msgbuf; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->xacc = xacc; + packet->yacc = yacc; + packet->zacc = zacc; + packet->xgyro = xgyro; + packet->ygyro = ygyro; + packet->zgyro = zgyro; + packet->lat = lat; + packet->lng = lng; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)packet, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)packet, MAVLINK_MSG_ID_SIMSTATE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SIMSTATE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h index 7608a7bd10..5d5edc4cc3 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_wind_send(mavlink_channel_t chan, float direction #endif } +#if MAVLINK_MSG_ID_WIND_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_wind_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float direction, float speed, float speed_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, direction); + _mav_put_float(buf, 4, speed); + _mav_put_float(buf, 8, speed_z); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, buf, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, buf, MAVLINK_MSG_ID_WIND_LEN); +#endif +#else + mavlink_wind_t *packet = (mavlink_wind_t *)msgbuf; + packet->direction = direction; + packet->speed = speed; + packet->speed_z = speed_z; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, (const char *)packet, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, (const char *)packet, MAVLINK_MSG_ID_WIND_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE WIND UNPACKING diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h index b2496334f7..489553ea4d 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h @@ -1398,6 +1398,59 @@ static void mavlink_test_rally_fetch_point(uint8_t system_id, uint8_t component_ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } +static void mavlink_test_compassmot_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_compassmot_status_t packet_in = { + 17.0, + }45.0, + }73.0, + }101.0, + }18067, + }18171, + }; + mavlink_compassmot_status_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.current = packet_in.current; + packet1.CompensationX = packet_in.CompensationX; + packet1.CompensationY = packet_in.CompensationY; + packet1.CompensationZ = packet_in.CompensationZ; + packet1.throttle = packet_in.throttle; + packet1.interference = packet_in.interference; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_compassmot_status_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_compassmot_status_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_compassmot_status_pack(system_id, component_id, &msg , packet1.throttle , packet1.current , packet1.interference , packet1.CompensationX , packet1.CompensationY , packet1.CompensationZ ); + mavlink_msg_compassmot_status_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_compassmot_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.throttle , packet1.current , packet1.interference , packet1.CompensationX , packet1.CompensationY , packet1.CompensationZ ); + mavlink_msg_compassmot_status_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */ + MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */ + MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */ + MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */ + MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1| q2 - quaternion param #2| q3 - quaternion param #3| q4 - quaternion param #4| Empty| Empty| Empty| */ MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ + MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Compass/Motor interference calibration: 0: no, 1: yes| Empty| */ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ diff --git a/mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h b/mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h index ed7c86bcb8..e78d5687aa 100644 --- a/mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h +++ b/mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h @@ -366,6 +366,78 @@ static inline void mavlink_msg_aq_telemetry_f_send(mavlink_channel_t chan, uint1 #endif } +#if MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_aq_telemetry_f_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t Index, float value1, float value2, float value3, float value4, float value5, float value6, float value7, float value8, float value9, float value10, float value11, float value12, float value13, float value14, float value15, float value16, float value17, float value18, float value19, float value20) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, value1); + _mav_put_float(buf, 4, value2); + _mav_put_float(buf, 8, value3); + _mav_put_float(buf, 12, value4); + _mav_put_float(buf, 16, value5); + _mav_put_float(buf, 20, value6); + _mav_put_float(buf, 24, value7); + _mav_put_float(buf, 28, value8); + _mav_put_float(buf, 32, value9); + _mav_put_float(buf, 36, value10); + _mav_put_float(buf, 40, value11); + _mav_put_float(buf, 44, value12); + _mav_put_float(buf, 48, value13); + _mav_put_float(buf, 52, value14); + _mav_put_float(buf, 56, value15); + _mav_put_float(buf, 60, value16); + _mav_put_float(buf, 64, value17); + _mav_put_float(buf, 68, value18); + _mav_put_float(buf, 72, value19); + _mav_put_float(buf, 76, value20); + _mav_put_uint16_t(buf, 80, Index); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN); +#endif +#else + mavlink_aq_telemetry_f_t *packet = (mavlink_aq_telemetry_f_t *)msgbuf; + packet->value1 = value1; + packet->value2 = value2; + packet->value3 = value3; + packet->value4 = value4; + packet->value5 = value5; + packet->value6 = value6; + packet->value7 = value7; + packet->value8 = value8; + packet->value9 = value9; + packet->value10 = value10; + packet->value11 = value11; + packet->value12 = value12; + packet->value13 = value13; + packet->value14 = value14; + packet->value15 = value15; + packet->value16 = value16; + packet->value17 = value17; + packet->value18 = value18; + packet->value19 = value19; + packet->value20 = value20; + packet->Index = Index; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, (const char *)packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, (const char *)packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE AQ_TELEMETRY_F UNPACKING diff --git a/mavlink/include/mavlink/v1.0/autoquad/version.h b/mavlink/include/mavlink/v1.0/autoquad/version.h index d125e92b1a..5d2f33b601 100644 --- a/mavlink/include/mavlink/v1.0/autoquad/version.h +++ b/mavlink/include/mavlink/v1.0/autoquad/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Tue Feb 4 15:27:43 2014" +#define MAVLINK_BUILD_DATE "Sun Apr 13 09:38:19 2014" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/mavlink/include/mavlink/v1.0/common/common.h b/mavlink/include/mavlink/v1.0/common/common.h index 7e1cf765bf..020211d406 100644 --- a/mavlink/include/mavlink/v1.0/common/common.h +++ b/mavlink/include/mavlink/v1.0/common/common.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 0, 0, 0, 0, 0, 13, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 42, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 0, 0, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_RC_CHANNELS, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" @@ -79,7 +79,8 @@ enum MAV_TYPE MAV_TYPE_TRICOPTER=15, /* Octorotor | */ MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */ MAV_TYPE_KITE=17, /* Flapping wing | */ - MAV_TYPE_ENUM_END=18, /* | */ + MAV_TYPE_ONBOARD_CONTROLLER=18, /* Onboard companion controller | */ + MAV_TYPE_ENUM_END=19, /* | */ }; #endif @@ -228,7 +229,8 @@ enum MAV_SYS_STATUS_SENSOR MAV_SYS_STATUS_SENSOR_3D_GYRO2=131072, /* 0x20000 2nd 3D gyro | */ MAV_SYS_STATUS_SENSOR_3D_ACCEL2=262144, /* 0x40000 2nd 3D accelerometer | */ MAV_SYS_STATUS_SENSOR_3D_MAG2=524288, /* 0x80000 2nd 3D magnetometer | */ - MAV_SYS_STATUS_SENSOR_ENUM_END=524289, /* | */ + MAV_SYS_STATUS_GEOFENCE=1048576, /* 0x100000 geofence | */ + MAV_SYS_STATUS_SENSOR_ENUM_END=1048577, /* | */ }; #endif @@ -242,7 +244,9 @@ enum MAV_FRAME MAV_FRAME_MISSION=2, /* NOT a coordinate frame, indicates a mission command. | */ MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. | */ MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-down (x: east, y: north, z: up) | */ - MAV_FRAME_ENUM_END=5, /* | */ + MAV_FRAME_GLOBAL_INT=5, /* Global coordinate frame with some fields as scaled integers, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL). Lat / Lon are scaled * 1E7 to avoid floating point accuracy limitations. | */ + MAV_FRAME_GLOBAL_RELATIVE_ALT_INT=6, /* Global coordinate frame with some fields as scaled integers, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. Lat / Lon are scaled * 1E7 to avoid floating point accuracy limitations. | */ + MAV_FRAME_ENUM_END=7, /* | */ }; #endif @@ -261,6 +265,57 @@ enum MAVLINK_DATA_STREAM_TYPE }; #endif +/** @brief */ +#ifndef HAVE_ENUM_FENCE_ACTION +#define HAVE_ENUM_FENCE_ACTION +enum FENCE_ACTION +{ + FENCE_ACTION_NONE=0, /* Disable fenced mode | */ + FENCE_ACTION_GUIDED=1, /* Switched to guided mode to return point (fence point 0) | */ + FENCE_ACTION_REPORT=2, /* Report fence breach, but don't take action | */ + FENCE_ACTION_GUIDED_THR_PASS=3, /* Switched to guided mode to return point (fence point 0) with manual throttle control | */ + FENCE_ACTION_ENUM_END=4, /* | */ +}; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_FENCE_BREACH +#define HAVE_ENUM_FENCE_BREACH +enum FENCE_BREACH +{ + FENCE_BREACH_NONE=0, /* No last fence breach | */ + FENCE_BREACH_MINALT=1, /* Breached minimum altitude | */ + FENCE_BREACH_MAXALT=2, /* Breached maximum altitude | */ + FENCE_BREACH_BOUNDARY=3, /* Breached fence boundary | */ + FENCE_BREACH_ENUM_END=4, /* | */ +}; +#endif + +/** @brief Enumeration of possible mount operation modes */ +#ifndef HAVE_ENUM_MAV_MOUNT_MODE +#define HAVE_ENUM_MAV_MOUNT_MODE +enum MAV_MOUNT_MODE +{ + MAV_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization | */ + MAV_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | */ + MAV_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */ + MAV_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */ + MAV_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */ + MAV_MOUNT_MODE_ENUM_END=5, /* | */ +}; +#endif + +/** @brief Enumeration of distance sensor types */ +#ifndef HAVE_ENUM_MAV_DISTANCE_SENSOR +#define HAVE_ENUM_MAV_DISTANCE_SENSOR +enum MAV_DISTANCE_SENSOR +{ + MAV_DISTANCE_SENSOR_LASER=0, /* Laser altimeter, e.g. LightWare SF02/F or PulsedLight units | */ + MAV_DISTANCE_SENSOR_ULTRASOUND=1, /* Laser altimeter, e.g. MaxBotix units | */ + MAV_DISTANCE_SENSOR_ENUM_END=2, /* | */ +}; +#endif + /** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */ #ifndef HAVE_ENUM_MAV_CMD #define HAVE_ENUM_MAV_CMD @@ -275,6 +330,7 @@ enum MAV_CMD MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to MISSION using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ @@ -292,8 +348,16 @@ enum MAV_CMD MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */ + MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */ + MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */ + MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */ + MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1| q2 - quaternion param #2| q3 - quaternion param #3| q4 - quaternion param #4| Empty| Empty| Empty| */ MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ + MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Compass/Motor interference calibration: 0: no, 1: yes| Empty| */ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ @@ -433,6 +497,48 @@ enum MAV_SEVERITY }; #endif +/** @brief Power supply status flags (bitmask) */ +#ifndef HAVE_ENUM_MAV_POWER_STATUS +#define HAVE_ENUM_MAV_POWER_STATUS +enum MAV_POWER_STATUS +{ + MAV_POWER_STATUS_BRICK_VALID=1, /* main brick power supply valid | */ + MAV_POWER_STATUS_SERVO_VALID=2, /* main servo power supply valid for FMU | */ + MAV_POWER_STATUS_USB_CONNECTED=4, /* USB power is connected | */ + MAV_POWER_STATUS_PERIPH_OVERCURRENT=8, /* peripheral supply is in over-current state | */ + MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT=16, /* hi-power peripheral supply is in over-current state | */ + MAV_POWER_STATUS_CHANGED=32, /* Power status has changed since boot | */ + MAV_POWER_STATUS_ENUM_END=33, /* | */ +}; +#endif + +/** @brief SERIAL_CONTROL device types */ +#ifndef HAVE_ENUM_SERIAL_CONTROL_DEV +#define HAVE_ENUM_SERIAL_CONTROL_DEV +enum SERIAL_CONTROL_DEV +{ + SERIAL_CONTROL_DEV_TELEM1=0, /* First telemetry port | */ + SERIAL_CONTROL_DEV_TELEM2=1, /* Second telemetry port | */ + SERIAL_CONTROL_DEV_GPS1=2, /* First GPS port | */ + SERIAL_CONTROL_DEV_GPS2=3, /* Second GPS port | */ + SERIAL_CONTROL_DEV_ENUM_END=4, /* | */ +}; +#endif + +/** @brief SERIAL_CONTROL flags (bitmask) */ +#ifndef HAVE_ENUM_SERIAL_CONTROL_FLAG +#define HAVE_ENUM_SERIAL_CONTROL_FLAG +enum SERIAL_CONTROL_FLAG +{ + SERIAL_CONTROL_FLAG_REPLY=1, /* Set if this is a reply | */ + SERIAL_CONTROL_FLAG_RESPOND=2, /* Set if the sender wants the receiver to send a response as another SERIAL_CONTROL message | */ + SERIAL_CONTROL_FLAG_EXCLUSIVE=4, /* Set if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set | */ + SERIAL_CONTROL_FLAG_BLOCKING=8, /* Block on writes to the serial port | */ + SERIAL_CONTROL_FLAG_MULTI=16, /* Send multiple replies until port is drained | */ + SERIAL_CONTROL_FLAG_ENUM_END=17, /* | */ +}; +#endif + // MAVLINK VERSION @@ -500,6 +606,7 @@ enum MAV_SEVERITY #include "./mavlink_msg_nav_controller_output.h" #include "./mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h" #include "./mavlink_msg_state_correction.h" +#include "./mavlink_msg_rc_channels.h" #include "./mavlink_msg_request_data_stream.h" #include "./mavlink_msg_data_stream.h" #include "./mavlink_msg_manual_control.h" @@ -538,8 +645,11 @@ enum MAV_SEVERITY #include "./mavlink_msg_log_request_end.h" #include "./mavlink_msg_gps_inject_data.h" #include "./mavlink_msg_gps2_raw.h" +#include "./mavlink_msg_power_status.h" +#include "./mavlink_msg_serial_control.h" #include "./mavlink_msg_data_transmission_handshake.h" #include "./mavlink_msg_encapsulated_data.h" +#include "./mavlink_msg_distance_sensor.h" #include "./mavlink_msg_battery_status.h" #include "./mavlink_msg_setpoint_8dof.h" #include "./mavlink_msg_setpoint_6dof.h" diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h index 8ddf5bf099..ff2f104d40 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t ti #endif } +#if MAVLINK_MSG_ID_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_attitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, roll); + _mav_put_float(buf, 8, pitch); + _mav_put_float(buf, 12, yaw); + _mav_put_float(buf, 16, rollspeed); + _mav_put_float(buf, 20, pitchspeed); + _mav_put_float(buf, 24, yawspeed); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN); +#endif +#else + mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->rollspeed = rollspeed; + packet->pitchspeed = pitchspeed; + packet->yawspeed = yawspeed; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE ATTITUDE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h index 9f8d587598..3b97b40d0d 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h @@ -223,6 +223,52 @@ static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, q1); + _mav_put_float(buf, 8, q2); + _mav_put_float(buf, 12, q3); + _mav_put_float(buf, 16, q4); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#endif +#else + mavlink_attitude_quaternion_t *packet = (mavlink_attitude_quaternion_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->q1 = q1; + packet->q2 = q2; + packet->q3 = q3; + packet->q4 = q4; + packet->rollspeed = rollspeed; + packet->pitchspeed = pitchspeed; + packet->yawspeed = yawspeed; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE ATTITUDE_QUATERNION UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h index 5703a59871..f31b6bbf48 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h @@ -146,6 +146,38 @@ static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char #endif } +#if MAVLINK_MSG_ID_AUTH_KEY_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_auth_key_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const char *key) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + + _mav_put_char_array(buf, 0, key, 32); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, MAVLINK_MSG_ID_AUTH_KEY_LEN); +#endif +#else + mavlink_auth_key_t *packet = (mavlink_auth_key_t *)msgbuf; + + mav_array_memcpy(packet->key, key, sizeof(char)*32); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)packet, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)packet, MAVLINK_MSG_ID_AUTH_KEY_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE AUTH_KEY UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h index 03e4d569e6..faaabf9f70 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h @@ -256,6 +256,58 @@ static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8 #endif } +#if MAVLINK_MSG_ID_BATTERY_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_battery_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, current_consumed); + _mav_put_int32_t(buf, 4, energy_consumed); + _mav_put_uint16_t(buf, 8, voltage_cell_1); + _mav_put_uint16_t(buf, 10, voltage_cell_2); + _mav_put_uint16_t(buf, 12, voltage_cell_3); + _mav_put_uint16_t(buf, 14, voltage_cell_4); + _mav_put_uint16_t(buf, 16, voltage_cell_5); + _mav_put_uint16_t(buf, 18, voltage_cell_6); + _mav_put_int16_t(buf, 20, current_battery); + _mav_put_uint8_t(buf, 22, accu_id); + _mav_put_int8_t(buf, 23, battery_remaining); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); +#endif +#else + mavlink_battery_status_t *packet = (mavlink_battery_status_t *)msgbuf; + packet->current_consumed = current_consumed; + packet->energy_consumed = energy_consumed; + packet->voltage_cell_1 = voltage_cell_1; + packet->voltage_cell_2 = voltage_cell_2; + packet->voltage_cell_3 = voltage_cell_3; + packet->voltage_cell_4 = voltage_cell_4; + packet->voltage_cell_5 = voltage_cell_5; + packet->voltage_cell_6 = voltage_cell_6; + packet->current_battery = current_battery; + packet->accu_id = accu_id; + packet->battery_remaining = battery_remaining; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE BATTERY_STATUS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h index 0b6de930d2..3f0987f10a 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h @@ -173,6 +173,42 @@ static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t ch #endif } +#if MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_change_operator_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, control_request); + _mav_put_uint8_t(buf, 2, version); + _mav_put_char_array(buf, 3, passkey, 25); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN); +#endif +#else + mavlink_change_operator_control_t *packet = (mavlink_change_operator_control_t *)msgbuf; + packet->target_system = target_system; + packet->control_request = control_request; + packet->version = version; + mav_array_memcpy(packet->passkey, passkey, sizeof(char)*25); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h index c6f6a28e4b..768e7ed5ca 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_ #endif } +#if MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_change_operator_control_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, gcs_system_id); + _mav_put_uint8_t(buf, 1, control_request); + _mav_put_uint8_t(buf, 2, ack); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN); +#endif +#else + mavlink_change_operator_control_ack_t *packet = (mavlink_change_operator_control_ack_t *)msgbuf; + packet->gcs_system_id = gcs_system_id; + packet->control_request = control_request; + packet->ack = ack; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE CHANGE_OPERATOR_CONTROL_ACK UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h index dca2fe6819..d3d1630419 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t #endif } +#if MAVLINK_MSG_ID_COMMAND_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t command, uint8_t result) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, command); + _mav_put_uint8_t(buf, 2, result); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN); +#endif +#else + mavlink_command_ack_t *packet = (mavlink_command_ack_t *)msgbuf; + packet->command = command; + packet->result = result; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE COMMAND_ACK UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_long.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_long.h index 8f705c0dd2..161896b973 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_long.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_long.h @@ -256,6 +256,58 @@ static inline void mavlink_msg_command_long_send(mavlink_channel_t chan, uint8_t #endif } +#if MAVLINK_MSG_ID_COMMAND_LONG_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_command_long_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, param1); + _mav_put_float(buf, 4, param2); + _mav_put_float(buf, 8, param3); + _mav_put_float(buf, 12, param4); + _mav_put_float(buf, 16, param5); + _mav_put_float(buf, 20, param6); + _mav_put_float(buf, 24, param7); + _mav_put_uint16_t(buf, 28, command); + _mav_put_uint8_t(buf, 30, target_system); + _mav_put_uint8_t(buf, 31, target_component); + _mav_put_uint8_t(buf, 32, confirmation); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN); +#endif +#else + mavlink_command_long_t *packet = (mavlink_command_long_t *)msgbuf; + packet->param1 = param1; + packet->param2 = param2; + packet->param3 = param3; + packet->param4 = param4; + packet->param5 = param5; + packet->param6 = param6; + packet->param7 = param7; + packet->command = command; + packet->target_system = target_system; + packet->target_component = target_component; + packet->confirmation = confirmation; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE COMMAND_LONG UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h index dc0768e128..640ffebf44 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t #endif } +#if MAVLINK_MSG_ID_DATA_STREAM_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_data_stream_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, message_rate); + _mav_put_uint8_t(buf, 2, stream_id); + _mav_put_uint8_t(buf, 3, on_off); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN); +#endif +#else + mavlink_data_stream_t *packet = (mavlink_data_stream_t *)msgbuf; + packet->message_rate = message_rate; + packet->stream_id = stream_id; + packet->on_off = on_off; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)packet, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)packet, MAVLINK_MSG_ID_DATA_STREAM_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE DATA_STREAM UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h index fdd8fddd87..d84a73709d 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_ #endif } +#if MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_data_transmission_handshake_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint16_t packets, uint8_t payload, uint8_t jpg_quality) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, size); + _mav_put_uint16_t(buf, 4, width); + _mav_put_uint16_t(buf, 6, height); + _mav_put_uint16_t(buf, 8, packets); + _mav_put_uint8_t(buf, 10, type); + _mav_put_uint8_t(buf, 11, payload); + _mav_put_uint8_t(buf, 12, jpg_quality); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN); +#endif +#else + mavlink_data_transmission_handshake_t *packet = (mavlink_data_transmission_handshake_t *)msgbuf; + packet->size = size; + packet->width = width; + packet->height = height; + packet->packets = packets; + packet->type = type; + packet->payload = payload; + packet->jpg_quality = jpg_quality; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE DATA_TRANSMISSION_HANDSHAKE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug.h index 9a6ed87eeb..2102af8623 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_ #endif } +#if MAVLINK_MSG_ID_DEBUG_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_debug_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, value); + _mav_put_uint8_t(buf, 8, ind); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN); +#endif +#else + mavlink_debug_t *packet = (mavlink_debug_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->value = value; + packet->ind = ind; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)packet, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)packet, MAVLINK_MSG_ID_DEBUG_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE DEBUG UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h index 6cfc75212e..67c339e898 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h @@ -184,6 +184,44 @@ static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const cha #endif } +#if MAVLINK_MSG_ID_DEBUG_VECT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_debug_vect_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const char *name, uint64_t time_usec, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_char_array(buf, 20, name, 10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#endif +#else + mavlink_debug_vect_t *packet = (mavlink_debug_vect_t *)msgbuf; + packet->time_usec = time_usec; + packet->x = x; + packet->y = y; + packet->z = z; + mav_array_memcpy(packet->name, name, sizeof(char)*10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE DEBUG_VECT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_distance_sensor.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_distance_sensor.h new file mode 100644 index 0000000000..39b3843966 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_distance_sensor.h @@ -0,0 +1,377 @@ +// MESSAGE DISTANCE_SENSOR PACKING + +#define MAVLINK_MSG_ID_DISTANCE_SENSOR 132 + +typedef struct __mavlink_distance_sensor_t +{ + uint32_t time_boot_ms; ///< Time since system boot + uint16_t min_distance; ///< Minimum distance the sensor can measure in centimeters + uint16_t max_distance; ///< Maximum distance the sensor can measure in centimeters + uint16_t current_distance; ///< Current distance reading + uint8_t type; ///< Type from MAV_DISTANCE_SENSOR enum. + uint8_t id; ///< Onboard ID of the sensor + uint8_t orientation; ///< Direction the sensor faces from FIXME enum. + uint8_t covariance; ///< Measurement covariance in centimeters, 0 for unknown / invalid readings +} mavlink_distance_sensor_t; + +#define MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN 14 +#define MAVLINK_MSG_ID_132_LEN 14 + +#define MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC 85 +#define MAVLINK_MSG_ID_132_CRC 85 + + + +#define MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR { \ + "DISTANCE_SENSOR", \ + 8, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_distance_sensor_t, time_boot_ms) }, \ + { "min_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_distance_sensor_t, min_distance) }, \ + { "max_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_distance_sensor_t, max_distance) }, \ + { "current_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_distance_sensor_t, current_distance) }, \ + { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_distance_sensor_t, type) }, \ + { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_distance_sensor_t, id) }, \ + { "orientation", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_distance_sensor_t, orientation) }, \ + { "covariance", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_distance_sensor_t, covariance) }, \ + } \ +} + + +/** + * @brief Pack a distance_sensor message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time_boot_ms Time since system boot + * @param type Type from MAV_DISTANCE_SENSOR enum. + * @param id Onboard ID of the sensor + * @param orientation Direction the sensor faces from FIXME enum. + * @param min_distance Minimum distance the sensor can measure in centimeters + * @param max_distance Maximum distance the sensor can measure in centimeters + * @param current_distance Current distance reading + * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_distance_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, uint8_t type, uint8_t id, uint8_t orientation, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t covariance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, min_distance); + _mav_put_uint16_t(buf, 6, max_distance); + _mav_put_uint16_t(buf, 8, current_distance); + _mav_put_uint8_t(buf, 10, type); + _mav_put_uint8_t(buf, 11, id); + _mav_put_uint8_t(buf, 12, orientation); + _mav_put_uint8_t(buf, 13, covariance); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); +#else + mavlink_distance_sensor_t packet; + packet.time_boot_ms = time_boot_ms; + packet.min_distance = min_distance; + packet.max_distance = max_distance; + packet.current_distance = current_distance; + packet.type = type; + packet.id = id; + packet.orientation = orientation; + packet.covariance = covariance; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); +#endif +} + +/** + * @brief Pack a distance_sensor message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param time_boot_ms Time since system boot + * @param type Type from MAV_DISTANCE_SENSOR enum. + * @param id Onboard ID of the sensor + * @param orientation Direction the sensor faces from FIXME enum. + * @param min_distance Minimum distance the sensor can measure in centimeters + * @param max_distance Maximum distance the sensor can measure in centimeters + * @param current_distance Current distance reading + * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_distance_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,uint8_t type,uint8_t id,uint8_t orientation,uint16_t min_distance,uint16_t max_distance,uint16_t current_distance,uint8_t covariance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, min_distance); + _mav_put_uint16_t(buf, 6, max_distance); + _mav_put_uint16_t(buf, 8, current_distance); + _mav_put_uint8_t(buf, 10, type); + _mav_put_uint8_t(buf, 11, id); + _mav_put_uint8_t(buf, 12, orientation); + _mav_put_uint8_t(buf, 13, covariance); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); +#else + mavlink_distance_sensor_t packet; + packet.time_boot_ms = time_boot_ms; + packet.min_distance = min_distance; + packet.max_distance = max_distance; + packet.current_distance = current_distance; + packet.type = type; + packet.id = id; + packet.orientation = orientation; + packet.covariance = covariance; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); +#endif +} + +/** + * @brief Encode a distance_sensor struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param distance_sensor C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_distance_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor) +{ + return mavlink_msg_distance_sensor_pack(system_id, component_id, msg, distance_sensor->time_boot_ms, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->covariance); +} + +/** + * @brief Encode a distance_sensor struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param distance_sensor C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_distance_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor) +{ + return mavlink_msg_distance_sensor_pack_chan(system_id, component_id, chan, msg, distance_sensor->time_boot_ms, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->covariance); +} + +/** + * @brief Send a distance_sensor message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Time since system boot + * @param type Type from MAV_DISTANCE_SENSOR enum. + * @param id Onboard ID of the sensor + * @param orientation Direction the sensor faces from FIXME enum. + * @param min_distance Minimum distance the sensor can measure in centimeters + * @param max_distance Maximum distance the sensor can measure in centimeters + * @param current_distance Current distance reading + * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_distance_sensor_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type, uint8_t id, uint8_t orientation, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t covariance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, min_distance); + _mav_put_uint16_t(buf, 6, max_distance); + _mav_put_uint16_t(buf, 8, current_distance); + _mav_put_uint8_t(buf, 10, type); + _mav_put_uint8_t(buf, 11, id); + _mav_put_uint8_t(buf, 12, orientation); + _mav_put_uint8_t(buf, 13, covariance); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); +#endif +#else + mavlink_distance_sensor_t packet; + packet.time_boot_ms = time_boot_ms; + packet.min_distance = min_distance; + packet.max_distance = max_distance; + packet.current_distance = current_distance; + packet.type = type; + packet.id = id; + packet.orientation = orientation; + packet.covariance = covariance; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_distance_sensor_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type, uint8_t id, uint8_t orientation, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t covariance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, min_distance); + _mav_put_uint16_t(buf, 6, max_distance); + _mav_put_uint16_t(buf, 8, current_distance); + _mav_put_uint8_t(buf, 10, type); + _mav_put_uint8_t(buf, 11, id); + _mav_put_uint8_t(buf, 12, orientation); + _mav_put_uint8_t(buf, 13, covariance); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); +#endif +#else + mavlink_distance_sensor_t *packet = (mavlink_distance_sensor_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->min_distance = min_distance; + packet->max_distance = max_distance; + packet->current_distance = current_distance; + packet->type = type; + packet->id = id; + packet->orientation = orientation; + packet->covariance = covariance; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE DISTANCE_SENSOR UNPACKING + + +/** + * @brief Get field time_boot_ms from distance_sensor message + * + * @return Time since system boot + */ +static inline uint32_t mavlink_msg_distance_sensor_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field type from distance_sensor message + * + * @return Type from MAV_DISTANCE_SENSOR enum. + */ +static inline uint8_t mavlink_msg_distance_sensor_get_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 10); +} + +/** + * @brief Get field id from distance_sensor message + * + * @return Onboard ID of the sensor + */ +static inline uint8_t mavlink_msg_distance_sensor_get_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 11); +} + +/** + * @brief Get field orientation from distance_sensor message + * + * @return Direction the sensor faces from FIXME enum. + */ +static inline uint8_t mavlink_msg_distance_sensor_get_orientation(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 12); +} + +/** + * @brief Get field min_distance from distance_sensor message + * + * @return Minimum distance the sensor can measure in centimeters + */ +static inline uint16_t mavlink_msg_distance_sensor_get_min_distance(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field max_distance from distance_sensor message + * + * @return Maximum distance the sensor can measure in centimeters + */ +static inline uint16_t mavlink_msg_distance_sensor_get_max_distance(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Get field current_distance from distance_sensor message + * + * @return Current distance reading + */ +static inline uint16_t mavlink_msg_distance_sensor_get_current_distance(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field covariance from distance_sensor message + * + * @return Measurement covariance in centimeters, 0 for unknown / invalid readings + */ +static inline uint8_t mavlink_msg_distance_sensor_get_covariance(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 13); +} + +/** + * @brief Decode a distance_sensor message into a struct + * + * @param msg The message to decode + * @param distance_sensor C-struct to decode the message contents into + */ +static inline void mavlink_msg_distance_sensor_decode(const mavlink_message_t* msg, mavlink_distance_sensor_t* distance_sensor) +{ +#if MAVLINK_NEED_BYTE_SWAP + distance_sensor->time_boot_ms = mavlink_msg_distance_sensor_get_time_boot_ms(msg); + distance_sensor->min_distance = mavlink_msg_distance_sensor_get_min_distance(msg); + distance_sensor->max_distance = mavlink_msg_distance_sensor_get_max_distance(msg); + distance_sensor->current_distance = mavlink_msg_distance_sensor_get_current_distance(msg); + distance_sensor->type = mavlink_msg_distance_sensor_get_type(msg); + distance_sensor->id = mavlink_msg_distance_sensor_get_id(msg); + distance_sensor->orientation = mavlink_msg_distance_sensor_get_orientation(msg); + distance_sensor->covariance = mavlink_msg_distance_sensor_get_covariance(msg); +#else + memcpy(distance_sensor, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h index 5900ea8388..dacd7c9f40 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h @@ -151,6 +151,38 @@ static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, ui #endif } +#if MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_encapsulated_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, seqnr); + _mav_put_uint8_t_array(buf, 2, data, 253); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN); +#endif +#else + mavlink_encapsulated_data_t *packet = (mavlink_encapsulated_data_t *)msgbuf; + packet->seqnr = seqnr; + mav_array_memcpy(packet->data, data, sizeof(uint8_t)*253); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE ENCAPSULATED_DATA UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_dir_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_dir_list.h index 4f31698d50..81c7031ced 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_dir_list.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_dir_list.h @@ -162,6 +162,40 @@ static inline void mavlink_msg_file_transfer_dir_list_send(mavlink_channel_t cha #endif } +#if MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_file_transfer_dir_list_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t transfer_uid, const char *dir_path, uint8_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, transfer_uid); + _mav_put_uint8_t(buf, 248, flags); + _mav_put_char_array(buf, 8, dir_path, 240); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN); +#endif +#else + mavlink_file_transfer_dir_list_t *packet = (mavlink_file_transfer_dir_list_t *)msgbuf; + packet->transfer_uid = transfer_uid; + packet->flags = flags; + mav_array_memcpy(packet->dir_path, dir_path, sizeof(char)*240); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FILE_TRANSFER_DIR_LIST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_res.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_res.h index fc6247faca..04981fa85a 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_res.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_res.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_file_transfer_res_send(mavlink_channel_t chan, ui #endif } +#if MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_file_transfer_res_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t transfer_uid, uint8_t result) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, transfer_uid); + _mav_put_uint8_t(buf, 8, result); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN); +#endif +#else + mavlink_file_transfer_res_t *packet = (mavlink_file_transfer_res_t *)msgbuf; + packet->transfer_uid = transfer_uid; + packet->result = result; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FILE_TRANSFER_RES UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_start.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_start.h index 05be77339b..7b1fba519a 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_start.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_start.h @@ -184,6 +184,44 @@ static inline void mavlink_msg_file_transfer_start_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_file_transfer_start_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t transfer_uid, const char *dest_path, uint8_t direction, uint32_t file_size, uint8_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, transfer_uid); + _mav_put_uint32_t(buf, 8, file_size); + _mav_put_uint8_t(buf, 252, direction); + _mav_put_uint8_t(buf, 253, flags); + _mav_put_char_array(buf, 12, dest_path, 240); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN); +#endif +#else + mavlink_file_transfer_start_t *packet = (mavlink_file_transfer_start_t *)msgbuf; + packet->transfer_uid = transfer_uid; + packet->file_size = file_size; + packet->direction = direction; + packet->flags = flags; + mav_array_memcpy(packet->dest_path, dest_path, sizeof(char)*240); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, (const char *)packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FILE_TRANSFER_START UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h index 7ed3d2a636..ba15bf3654 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h @@ -234,6 +234,54 @@ static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_global_position_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int32_t(buf, 4, lat); + _mav_put_int32_t(buf, 8, lon); + _mav_put_int32_t(buf, 12, alt); + _mav_put_int32_t(buf, 16, relative_alt); + _mav_put_int16_t(buf, 20, vx); + _mav_put_int16_t(buf, 22, vy); + _mav_put_int16_t(buf, 24, vz); + _mav_put_uint16_t(buf, 26, hdg); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN); +#endif +#else + mavlink_global_position_int_t *packet = (mavlink_global_position_int_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->lat = lat; + packet->lon = lon; + packet->alt = alt; + packet->relative_alt = relative_alt; + packet->vx = vx; + packet->vy = vy; + packet->vz = vz; + packet->hdg = hdg; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE GLOBAL_POSITION_INT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h index 1a1c97199e..77d735cf4f 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_global_position_setpoint_int_send(mavlink_channel #endif } +#if MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_global_position_setpoint_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, latitude); + _mav_put_int32_t(buf, 4, longitude); + _mav_put_int32_t(buf, 8, altitude); + _mav_put_int16_t(buf, 12, yaw); + _mav_put_uint8_t(buf, 14, coordinate_frame); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN); +#endif +#else + mavlink_global_position_setpoint_int_t *packet = (mavlink_global_position_setpoint_int_t *)msgbuf; + packet->latitude = latitude; + packet->longitude = longitude; + packet->altitude = altitude; + packet->yaw = yaw; + packet->coordinate_frame = coordinate_frame; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE GLOBAL_POSITION_SETPOINT_INT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h index f7be74c917..b2b75d7ef5 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_chan #endif } +#if MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_global_vision_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN); +#endif +#else + mavlink_global_vision_position_estimate_t *packet = (mavlink_global_vision_position_estimate_t *)msgbuf; + packet->usec = usec; + packet->x = x; + packet->y = y; + packet->z = z; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE GLOBAL_VISION_POSITION_ESTIMATE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps2_raw.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps2_raw.h index 17e5bd0026..b184e7c9cc 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps2_raw.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps2_raw.h @@ -267,6 +267,60 @@ static inline void mavlink_msg_gps2_raw_send(mavlink_channel_t chan, uint64_t ti #endif } +#if MAVLINK_MSG_ID_GPS2_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_gps2_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lon); + _mav_put_int32_t(buf, 16, alt); + _mav_put_uint32_t(buf, 20, dgps_age); + _mav_put_uint16_t(buf, 24, eph); + _mav_put_uint16_t(buf, 26, epv); + _mav_put_uint16_t(buf, 28, vel); + _mav_put_uint16_t(buf, 30, cog); + _mav_put_uint8_t(buf, 32, fix_type); + _mav_put_uint8_t(buf, 33, satellites_visible); + _mav_put_uint8_t(buf, 34, dgps_numch); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_LEN); +#endif +#else + mavlink_gps2_raw_t *packet = (mavlink_gps2_raw_t *)msgbuf; + packet->time_usec = time_usec; + packet->lat = lat; + packet->lon = lon; + packet->alt = alt; + packet->dgps_age = dgps_age; + packet->eph = eph; + packet->epv = epv; + packet->vel = vel; + packet->cog = cog; + packet->fix_type = fix_type; + packet->satellites_visible = satellites_visible; + packet->dgps_numch = dgps_numch; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)packet, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)packet, MAVLINK_MSG_ID_GPS2_RAW_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE GPS2_RAW UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h index 016e9cb0e6..1589c8ca59 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, in #endif } +#if MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_gps_global_origin_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, latitude); + _mav_put_int32_t(buf, 4, longitude); + _mav_put_int32_t(buf, 8, altitude); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN); +#endif +#else + mavlink_gps_global_origin_t *packet = (mavlink_gps_global_origin_t *)msgbuf; + packet->latitude = latitude; + packet->longitude = longitude; + packet->altitude = altitude; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE GPS_GLOBAL_ORIGIN UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_inject_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_inject_data.h index 485d8a4afc..362e2d7b9a 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_inject_data.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_inject_data.h @@ -173,6 +173,42 @@ static inline void mavlink_msg_gps_inject_data_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_gps_inject_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t len, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, len); + _mav_put_uint8_t_array(buf, 3, data, 110); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, buf, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN, MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, buf, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN); +#endif +#else + mavlink_gps_inject_data_t *packet = (mavlink_gps_inject_data_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + packet->len = len; + mav_array_memcpy(packet->data, data, sizeof(uint8_t)*110); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, (const char *)packet, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN, MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, (const char *)packet, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE GPS_INJECT_DATA UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h index a105f8cdad..b539962069 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h @@ -245,6 +245,56 @@ static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t #endif } +#if MAVLINK_MSG_ID_GPS_RAW_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_gps_raw_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lon); + _mav_put_int32_t(buf, 16, alt); + _mav_put_uint16_t(buf, 20, eph); + _mav_put_uint16_t(buf, 22, epv); + _mav_put_uint16_t(buf, 24, vel); + _mav_put_uint16_t(buf, 26, cog); + _mav_put_uint8_t(buf, 28, fix_type); + _mav_put_uint8_t(buf, 29, satellites_visible); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN); +#endif +#else + mavlink_gps_raw_int_t *packet = (mavlink_gps_raw_int_t *)msgbuf; + packet->time_usec = time_usec; + packet->lat = lat; + packet->lon = lon; + packet->alt = alt; + packet->eph = eph; + packet->epv = epv; + packet->vel = vel; + packet->cog = cog; + packet->fix_type = fix_type; + packet->satellites_visible = satellites_visible; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE GPS_RAW_INT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h index 28d6b57d19..10659d0dd8 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h @@ -199,6 +199,46 @@ static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t s #endif } +#if MAVLINK_MSG_ID_GPS_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_gps_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, satellites_visible); + _mav_put_uint8_t_array(buf, 1, satellite_prn, 20); + _mav_put_uint8_t_array(buf, 21, satellite_used, 20); + _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20); + _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20); + _mav_put_uint8_t_array(buf, 81, satellite_snr, 20); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_LEN); +#endif +#else + mavlink_gps_status_t *packet = (mavlink_gps_status_t *)msgbuf; + packet->satellites_visible = satellites_visible; + mav_array_memcpy(packet->satellite_prn, satellite_prn, sizeof(uint8_t)*20); + mav_array_memcpy(packet->satellite_used, satellite_used, sizeof(uint8_t)*20); + mav_array_memcpy(packet->satellite_elevation, satellite_elevation, sizeof(uint8_t)*20); + mav_array_memcpy(packet->satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20); + mav_array_memcpy(packet->satellite_snr, satellite_snr, sizeof(uint8_t)*20); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)packet, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)packet, MAVLINK_MSG_ID_GPS_STATUS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE GPS_STATUS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h index 826138fad1..902e381ca8 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h @@ -198,6 +198,48 @@ static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t ty #endif } +#if MAVLINK_MSG_ID_HEARTBEAT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_heartbeat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, custom_mode); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 5, autopilot); + _mav_put_uint8_t(buf, 6, base_mode); + _mav_put_uint8_t(buf, 7, system_status); + _mav_put_uint8_t(buf, 8, 3); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_LEN); +#endif +#else + mavlink_heartbeat_t *packet = (mavlink_heartbeat_t *)msgbuf; + packet->custom_mode = custom_mode; + packet->type = type; + packet->autopilot = autopilot; + packet->base_mode = base_mode; + packet->system_status = system_status; + packet->mavlink_version = 3; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_HEARTBEAT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE HEARTBEAT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h index 0dcd95ed32..2749cb097f 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h @@ -300,6 +300,66 @@ static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t #endif } +#if MAVLINK_MSG_ID_HIGHRES_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_highres_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, xacc); + _mav_put_float(buf, 12, yacc); + _mav_put_float(buf, 16, zacc); + _mav_put_float(buf, 20, xgyro); + _mav_put_float(buf, 24, ygyro); + _mav_put_float(buf, 28, zgyro); + _mav_put_float(buf, 32, xmag); + _mav_put_float(buf, 36, ymag); + _mav_put_float(buf, 40, zmag); + _mav_put_float(buf, 44, abs_pressure); + _mav_put_float(buf, 48, diff_pressure); + _mav_put_float(buf, 52, pressure_alt); + _mav_put_float(buf, 56, temperature); + _mav_put_uint16_t(buf, 60, fields_updated); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN); +#endif +#else + mavlink_highres_imu_t *packet = (mavlink_highres_imu_t *)msgbuf; + packet->time_usec = time_usec; + packet->xacc = xacc; + packet->yacc = yacc; + packet->zacc = zacc; + packet->xgyro = xgyro; + packet->ygyro = ygyro; + packet->zgyro = zgyro; + packet->xmag = xmag; + packet->ymag = ymag; + packet->zmag = zmag; + packet->abs_pressure = abs_pressure; + packet->diff_pressure = diff_pressure; + packet->pressure_alt = pressure_alt; + packet->temperature = temperature; + packet->fields_updated = fields_updated; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE HIGHRES_IMU UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h index aed5108d05..f7507b1cf7 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h @@ -256,6 +256,58 @@ static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_ #endif } +#if MAVLINK_MSG_ID_HIL_CONTROLS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_hil_controls_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, roll_ailerons); + _mav_put_float(buf, 12, pitch_elevator); + _mav_put_float(buf, 16, yaw_rudder); + _mav_put_float(buf, 20, throttle); + _mav_put_float(buf, 24, aux1); + _mav_put_float(buf, 28, aux2); + _mav_put_float(buf, 32, aux3); + _mav_put_float(buf, 36, aux4); + _mav_put_uint8_t(buf, 40, mode); + _mav_put_uint8_t(buf, 41, nav_mode); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); +#endif +#else + mavlink_hil_controls_t *packet = (mavlink_hil_controls_t *)msgbuf; + packet->time_usec = time_usec; + packet->roll_ailerons = roll_ailerons; + packet->pitch_elevator = pitch_elevator; + packet->yaw_rudder = yaw_rudder; + packet->throttle = throttle; + packet->aux1 = aux1; + packet->aux2 = aux2; + packet->aux3 = aux3; + packet->aux4 = aux4; + packet->mode = mode; + packet->nav_mode = nav_mode; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE HIL_CONTROLS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h index 91aec5b08c..a22c0472f0 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h @@ -278,6 +278,62 @@ static inline void mavlink_msg_hil_gps_send(mavlink_channel_t chan, uint64_t tim #endif } +#if MAVLINK_MSG_ID_HIL_GPS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_hil_gps_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lon); + _mav_put_int32_t(buf, 16, alt); + _mav_put_uint16_t(buf, 20, eph); + _mav_put_uint16_t(buf, 22, epv); + _mav_put_uint16_t(buf, 24, vel); + _mav_put_int16_t(buf, 26, vn); + _mav_put_int16_t(buf, 28, ve); + _mav_put_int16_t(buf, 30, vd); + _mav_put_uint16_t(buf, 32, cog); + _mav_put_uint8_t(buf, 34, fix_type); + _mav_put_uint8_t(buf, 35, satellites_visible); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN); +#endif +#else + mavlink_hil_gps_t *packet = (mavlink_hil_gps_t *)msgbuf; + packet->time_usec = time_usec; + packet->lat = lat; + packet->lon = lon; + packet->alt = alt; + packet->eph = eph; + packet->epv = epv; + packet->vel = vel; + packet->vn = vn; + packet->ve = ve; + packet->vd = vd; + packet->cog = cog; + packet->fix_type = fix_type; + packet->satellites_visible = satellites_visible; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)packet, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)packet, MAVLINK_MSG_ID_HIL_GPS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE HIL_GPS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_optical_flow.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_optical_flow.h index acb1392e14..eaadf24359 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_optical_flow.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_optical_flow.h @@ -223,6 +223,52 @@ static inline void mavlink_msg_hil_optical_flow_send(mavlink_channel_t chan, uin #endif } +#if MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_hil_optical_flow_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, flow_comp_m_x); + _mav_put_float(buf, 12, flow_comp_m_y); + _mav_put_float(buf, 16, ground_distance); + _mav_put_int16_t(buf, 20, flow_x); + _mav_put_int16_t(buf, 22, flow_y); + _mav_put_uint8_t(buf, 24, sensor_id); + _mav_put_uint8_t(buf, 25, quality); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN); +#endif +#else + mavlink_hil_optical_flow_t *packet = (mavlink_hil_optical_flow_t *)msgbuf; + packet->time_usec = time_usec; + packet->flow_comp_m_x = flow_comp_m_x; + packet->flow_comp_m_y = flow_comp_m_y; + packet->ground_distance = ground_distance; + packet->flow_x = flow_x; + packet->flow_y = flow_y; + packet->sensor_id = sensor_id; + packet->quality = quality; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE HIL_OPTICAL_FLOW UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h index a42bde50b2..227cd9d94e 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h @@ -289,6 +289,64 @@ static inline void mavlink_msg_hil_rc_inputs_raw_send(mavlink_channel_t chan, ui #endif } +#if MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_hil_rc_inputs_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_uint16_t(buf, 8, chan1_raw); + _mav_put_uint16_t(buf, 10, chan2_raw); + _mav_put_uint16_t(buf, 12, chan3_raw); + _mav_put_uint16_t(buf, 14, chan4_raw); + _mav_put_uint16_t(buf, 16, chan5_raw); + _mav_put_uint16_t(buf, 18, chan6_raw); + _mav_put_uint16_t(buf, 20, chan7_raw); + _mav_put_uint16_t(buf, 22, chan8_raw); + _mav_put_uint16_t(buf, 24, chan9_raw); + _mav_put_uint16_t(buf, 26, chan10_raw); + _mav_put_uint16_t(buf, 28, chan11_raw); + _mav_put_uint16_t(buf, 30, chan12_raw); + _mav_put_uint8_t(buf, 32, rssi); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, buf, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, buf, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN); +#endif +#else + mavlink_hil_rc_inputs_raw_t *packet = (mavlink_hil_rc_inputs_raw_t *)msgbuf; + packet->time_usec = time_usec; + packet->chan1_raw = chan1_raw; + packet->chan2_raw = chan2_raw; + packet->chan3_raw = chan3_raw; + packet->chan4_raw = chan4_raw; + packet->chan5_raw = chan5_raw; + packet->chan6_raw = chan6_raw; + packet->chan7_raw = chan7_raw; + packet->chan8_raw = chan8_raw; + packet->chan9_raw = chan9_raw; + packet->chan10_raw = chan10_raw; + packet->chan11_raw = chan11_raw; + packet->chan12_raw = chan12_raw; + packet->rssi = rssi; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, (const char *)packet, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, (const char *)packet, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE HIL_RC_INPUTS_RAW UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h index 6c2667473d..8672f8b8a3 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h @@ -300,6 +300,66 @@ static inline void mavlink_msg_hil_sensor_send(mavlink_channel_t chan, uint64_t #endif } +#if MAVLINK_MSG_ID_HIL_SENSOR_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_hil_sensor_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, xacc); + _mav_put_float(buf, 12, yacc); + _mav_put_float(buf, 16, zacc); + _mav_put_float(buf, 20, xgyro); + _mav_put_float(buf, 24, ygyro); + _mav_put_float(buf, 28, zgyro); + _mav_put_float(buf, 32, xmag); + _mav_put_float(buf, 36, ymag); + _mav_put_float(buf, 40, zmag); + _mav_put_float(buf, 44, abs_pressure); + _mav_put_float(buf, 48, diff_pressure); + _mav_put_float(buf, 52, pressure_alt); + _mav_put_float(buf, 56, temperature); + _mav_put_uint32_t(buf, 60, fields_updated); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN); +#endif +#else + mavlink_hil_sensor_t *packet = (mavlink_hil_sensor_t *)msgbuf; + packet->time_usec = time_usec; + packet->xacc = xacc; + packet->yacc = yacc; + packet->zacc = zacc; + packet->xgyro = xgyro; + packet->ygyro = ygyro; + packet->zgyro = zgyro; + packet->xmag = xmag; + packet->ymag = ymag; + packet->zmag = zmag; + packet->abs_pressure = abs_pressure; + packet->diff_pressure = diff_pressure; + packet->pressure_alt = pressure_alt; + packet->temperature = temperature; + packet->fields_updated = fields_updated; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE HIL_SENSOR UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h index bcc8577670..923ed60b95 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h @@ -311,6 +311,68 @@ static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t t #endif } +#if MAVLINK_MSG_ID_HIL_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_hil_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, roll); + _mav_put_float(buf, 12, pitch); + _mav_put_float(buf, 16, yaw); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + _mav_put_int32_t(buf, 32, lat); + _mav_put_int32_t(buf, 36, lon); + _mav_put_int32_t(buf, 40, alt); + _mav_put_int16_t(buf, 44, vx); + _mav_put_int16_t(buf, 46, vy); + _mav_put_int16_t(buf, 48, vz); + _mav_put_int16_t(buf, 50, xacc); + _mav_put_int16_t(buf, 52, yacc); + _mav_put_int16_t(buf, 54, zacc); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN); +#endif +#else + mavlink_hil_state_t *packet = (mavlink_hil_state_t *)msgbuf; + packet->time_usec = time_usec; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->rollspeed = rollspeed; + packet->pitchspeed = pitchspeed; + packet->yawspeed = yawspeed; + packet->lat = lat; + packet->lon = lon; + packet->alt = alt; + packet->vx = vx; + packet->vy = vy; + packet->vz = vz; + packet->xacc = xacc; + packet->yacc = yacc; + packet->zacc = zacc; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE HIL_STATE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state_quaternion.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state_quaternion.h index 732176193e..1a028bdf99 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state_quaternion.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state_quaternion.h @@ -305,6 +305,66 @@ static inline void mavlink_msg_hil_state_quaternion_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_hil_state_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 24, rollspeed); + _mav_put_float(buf, 28, pitchspeed); + _mav_put_float(buf, 32, yawspeed); + _mav_put_int32_t(buf, 36, lat); + _mav_put_int32_t(buf, 40, lon); + _mav_put_int32_t(buf, 44, alt); + _mav_put_int16_t(buf, 48, vx); + _mav_put_int16_t(buf, 50, vy); + _mav_put_int16_t(buf, 52, vz); + _mav_put_uint16_t(buf, 54, ind_airspeed); + _mav_put_uint16_t(buf, 56, true_airspeed); + _mav_put_int16_t(buf, 58, xacc); + _mav_put_int16_t(buf, 60, yacc); + _mav_put_int16_t(buf, 62, zacc); + _mav_put_float_array(buf, 8, attitude_quaternion, 4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#endif +#else + mavlink_hil_state_quaternion_t *packet = (mavlink_hil_state_quaternion_t *)msgbuf; + packet->time_usec = time_usec; + packet->rollspeed = rollspeed; + packet->pitchspeed = pitchspeed; + packet->yawspeed = yawspeed; + packet->lat = lat; + packet->lon = lon; + packet->alt = alt; + packet->vx = vx; + packet->vy = vy; + packet->vz = vz; + packet->ind_airspeed = ind_airspeed; + packet->true_airspeed = true_airspeed; + packet->xacc = xacc; + packet->yacc = yacc; + packet->zacc = zacc; + mav_array_memcpy(packet->attitude_quaternion, attitude_quaternion, sizeof(float)*4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE HIL_STATE_QUATERNION UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned.h index a0b72c0e1e..e18a948695 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_local_position_ned_send(mavlink_channel_t chan, u #endif } +#if MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_local_position_ned_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#endif +#else + mavlink_local_position_ned_t *packet = (mavlink_local_position_ned_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->x = x; + packet->y = y; + packet->z = z; + packet->vx = vx; + packet->vy = vy; + packet->vz = vz; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LOCAL_POSITION_NED UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned_system_global_offset.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned_system_global_offset.h index 8c46862027..af7d195b01 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned_system_global_offset.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned_system_global_offset.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_local_position_ned_system_global_offset_send(mavl #endif } +#if MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_local_position_ned_system_global_offset_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, roll); + _mav_put_float(buf, 20, pitch); + _mav_put_float(buf, 24, yaw); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN); +#endif +#else + mavlink_local_position_ned_system_global_offset_t *packet = (mavlink_local_position_ned_system_global_offset_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->x = x; + packet->y = y; + packet->z = z; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h index 1794815f8e..8dae721beb 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t ch #endif } +#if MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_local_position_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t coordinate_frame, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + _mav_put_uint8_t(buf, 16, coordinate_frame); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#endif +#else + mavlink_local_position_setpoint_t *packet = (mavlink_local_position_setpoint_t *)msgbuf; + packet->x = x; + packet->y = y; + packet->z = z; + packet->yaw = yaw; + packet->coordinate_frame = coordinate_frame; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LOCAL_POSITION_SETPOINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h index 1cf5d15e48..48641f3eb0 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h @@ -173,6 +173,42 @@ static inline void mavlink_msg_log_data_send(mavlink_channel_t chan, uint16_t id #endif } +#if MAVLINK_MSG_ID_LOG_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_log_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, ofs); + _mav_put_uint16_t(buf, 4, id); + _mav_put_uint8_t(buf, 6, count); + _mav_put_uint8_t_array(buf, 7, data, 90); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN); +#endif +#else + mavlink_log_data_t *packet = (mavlink_log_data_t *)msgbuf; + packet->ofs = ofs; + packet->id = id; + packet->count = count; + mav_array_memcpy(packet->data, data, sizeof(uint8_t)*90); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)packet, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)packet, MAVLINK_MSG_ID_LOG_DATA_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LOG_DATA UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_entry.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_entry.h index 681d8f07cd..8ecaec3ae2 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_entry.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_entry.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_log_entry_send(mavlink_channel_t chan, uint16_t i #endif } +#if MAVLINK_MSG_ID_LOG_ENTRY_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_log_entry_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t id, uint16_t num_logs, uint16_t last_log_num, uint32_t time_utc, uint32_t size) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_utc); + _mav_put_uint32_t(buf, 4, size); + _mav_put_uint16_t(buf, 8, id); + _mav_put_uint16_t(buf, 10, num_logs); + _mav_put_uint16_t(buf, 12, last_log_num); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN); +#endif +#else + mavlink_log_entry_t *packet = (mavlink_log_entry_t *)msgbuf; + packet->time_utc = time_utc; + packet->size = size; + packet->id = id; + packet->num_logs = num_logs; + packet->last_log_num = last_log_num; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, (const char *)packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, (const char *)packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LOG_ENTRY UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_erase.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_erase.h index feafeaf164..957c4d4cc0 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_erase.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_erase.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_log_erase_send(mavlink_channel_t chan, uint8_t ta #endif } +#if MAVLINK_MSG_ID_LOG_ERASE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_log_erase_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, buf, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, buf, MAVLINK_MSG_ID_LOG_ERASE_LEN); +#endif +#else + mavlink_log_erase_t *packet = (mavlink_log_erase_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, (const char *)packet, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, (const char *)packet, MAVLINK_MSG_ID_LOG_ERASE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LOG_ERASE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_data.h index 5be9eea471..ef5cbb67cb 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_data.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_data.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_log_request_data_send(mavlink_channel_t chan, uin #endif } +#if MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_log_request_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t id, uint32_t ofs, uint32_t count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, ofs); + _mav_put_uint32_t(buf, 4, count); + _mav_put_uint16_t(buf, 8, id); + _mav_put_uint8_t(buf, 10, target_system); + _mav_put_uint8_t(buf, 11, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN); +#endif +#else + mavlink_log_request_data_t *packet = (mavlink_log_request_data_t *)msgbuf; + packet->ofs = ofs; + packet->count = count; + packet->id = id; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, (const char *)packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, (const char *)packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LOG_REQUEST_DATA UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_end.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_end.h index 48a5a03b4c..23fcca29f7 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_end.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_end.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_log_request_end_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_LOG_REQUEST_END_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_log_request_end_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN); +#endif +#else + mavlink_log_request_end_t *packet = (mavlink_log_request_end_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, (const char *)packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, (const char *)packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LOG_REQUEST_END UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_list.h index 7a5b25c171..e511b53125 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_list.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_list.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_log_request_list_send(mavlink_channel_t chan, uin #endif } +#if MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_log_request_list_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t start, uint16_t end) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, start); + _mav_put_uint16_t(buf, 2, end); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN); +#endif +#else + mavlink_log_request_list_t *packet = (mavlink_log_request_list_t *)msgbuf; + packet->start = start; + packet->end = end; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, (const char *)packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, (const char *)packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LOG_REQUEST_LIST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h index 6b6e9e148a..e93b759d0a 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8 #endif } +#if MAVLINK_MSG_ID_MANUAL_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_manual_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int16_t(buf, 0, x); + _mav_put_int16_t(buf, 2, y); + _mav_put_int16_t(buf, 4, z); + _mav_put_int16_t(buf, 6, r); + _mav_put_uint16_t(buf, 8, buttons); + _mav_put_uint8_t(buf, 10, target); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); +#endif +#else + mavlink_manual_control_t *packet = (mavlink_manual_control_t *)msgbuf; + packet->x = x; + packet->y = y; + packet->z = z; + packet->r = r; + packet->buttons = buttons; + packet->target = target; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MANUAL_CONTROL UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h index a694947c12..b276267269 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_manual_setpoint_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_manual_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, roll); + _mav_put_float(buf, 8, pitch); + _mav_put_float(buf, 12, yaw); + _mav_put_float(buf, 16, thrust); + _mav_put_uint8_t(buf, 20, mode_switch); + _mav_put_uint8_t(buf, 21, manual_override_switch); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#endif +#else + mavlink_manual_setpoint_t *packet = (mavlink_manual_setpoint_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->thrust = thrust; + packet->mode_switch = mode_switch; + packet->manual_override_switch = manual_override_switch; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MANUAL_SETPOINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_memory_vect.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_memory_vect.h index 5f79329c25..2eb60cc0e6 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_memory_vect.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_memory_vect.h @@ -173,6 +173,42 @@ static inline void mavlink_msg_memory_vect_send(mavlink_channel_t chan, uint16_t #endif } +#if MAVLINK_MSG_ID_MEMORY_VECT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_memory_vect_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t address, uint8_t ver, uint8_t type, const int8_t *value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, address); + _mav_put_uint8_t(buf, 2, ver); + _mav_put_uint8_t(buf, 3, type); + _mav_put_int8_t_array(buf, 4, value, 32); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, buf, MAVLINK_MSG_ID_MEMORY_VECT_LEN, MAVLINK_MSG_ID_MEMORY_VECT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, buf, MAVLINK_MSG_ID_MEMORY_VECT_LEN); +#endif +#else + mavlink_memory_vect_t *packet = (mavlink_memory_vect_t *)msgbuf; + packet->address = address; + packet->ver = ver; + packet->type = type; + mav_array_memcpy(packet->value, value, sizeof(int8_t)*32); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, (const char *)packet, MAVLINK_MSG_ID_MEMORY_VECT_LEN, MAVLINK_MSG_ID_MEMORY_VECT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, (const char *)packet, MAVLINK_MSG_ID_MEMORY_VECT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MEMORY_VECT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_ack.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_ack.h index 7421d8394a..43afd00f7e 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_ack.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_ack.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_mission_ack_send(mavlink_channel_t chan, uint8_t #endif } +#if MAVLINK_MSG_ID_MISSION_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mission_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, type); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, buf, MAVLINK_MSG_ID_MISSION_ACK_LEN, MAVLINK_MSG_ID_MISSION_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, buf, MAVLINK_MSG_ID_MISSION_ACK_LEN); +#endif +#else + mavlink_mission_ack_t *packet = (mavlink_mission_ack_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + packet->type = type; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, (const char *)packet, MAVLINK_MSG_ID_MISSION_ACK_LEN, MAVLINK_MSG_ID_MISSION_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, (const char *)packet, MAVLINK_MSG_ID_MISSION_ACK_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MISSION_ACK UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h index 8f441c8e5c..120986873f 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_mission_clear_all_send(mavlink_channel_t chan, ui #endif } +#if MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mission_clear_all_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, buf, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, buf, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN); +#endif +#else + mavlink_mission_clear_all_t *packet = (mavlink_mission_clear_all_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, (const char *)packet, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, (const char *)packet, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MISSION_CLEAR_ALL UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_count.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_count.h index eac7793067..7e4748eaef 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_count.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_count.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_mission_count_send(mavlink_channel_t chan, uint8_ #endif } +#if MAVLINK_MSG_ID_MISSION_COUNT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mission_count_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, count); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, buf, MAVLINK_MSG_ID_MISSION_COUNT_LEN, MAVLINK_MSG_ID_MISSION_COUNT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, buf, MAVLINK_MSG_ID_MISSION_COUNT_LEN); +#endif +#else + mavlink_mission_count_t *packet = (mavlink_mission_count_t *)msgbuf; + packet->count = count; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, (const char *)packet, MAVLINK_MSG_ID_MISSION_COUNT_LEN, MAVLINK_MSG_ID_MISSION_COUNT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, (const char *)packet, MAVLINK_MSG_ID_MISSION_COUNT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MISSION_COUNT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_current.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_current.h index dbcdbd3f9c..201b7a6fb4 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_current.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_current.h @@ -146,6 +146,38 @@ static inline void mavlink_msg_mission_current_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_MISSION_CURRENT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mission_current_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, seq); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, buf, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, buf, MAVLINK_MSG_ID_MISSION_CURRENT_LEN); +#endif +#else + mavlink_mission_current_t *packet = (mavlink_mission_current_t *)msgbuf; + packet->seq = seq; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, (const char *)packet, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, (const char *)packet, MAVLINK_MSG_ID_MISSION_CURRENT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MISSION_CURRENT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h index a8d60eca7e..ef9394f00c 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h @@ -289,6 +289,64 @@ static inline void mavlink_msg_mission_item_send(mavlink_channel_t chan, uint8_t #endif } +#if MAVLINK_MSG_ID_MISSION_ITEM_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mission_item_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, param1); + _mav_put_float(buf, 4, param2); + _mav_put_float(buf, 8, param3); + _mav_put_float(buf, 12, param4); + _mav_put_float(buf, 16, x); + _mav_put_float(buf, 20, y); + _mav_put_float(buf, 24, z); + _mav_put_uint16_t(buf, 28, seq); + _mav_put_uint16_t(buf, 30, command); + _mav_put_uint8_t(buf, 32, target_system); + _mav_put_uint8_t(buf, 33, target_component); + _mav_put_uint8_t(buf, 34, frame); + _mav_put_uint8_t(buf, 35, current); + _mav_put_uint8_t(buf, 36, autocontinue); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, buf, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, buf, MAVLINK_MSG_ID_MISSION_ITEM_LEN); +#endif +#else + mavlink_mission_item_t *packet = (mavlink_mission_item_t *)msgbuf; + packet->param1 = param1; + packet->param2 = param2; + packet->param3 = param3; + packet->param4 = param4; + packet->x = x; + packet->y = y; + packet->z = z; + packet->seq = seq; + packet->command = command; + packet->target_system = target_system; + packet->target_component = target_component; + packet->frame = frame; + packet->current = current; + packet->autocontinue = autocontinue; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, (const char *)packet, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, (const char *)packet, MAVLINK_MSG_ID_MISSION_ITEM_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MISSION_ITEM UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h index f3744fde6c..9dfa280433 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h @@ -146,6 +146,38 @@ static inline void mavlink_msg_mission_item_reached_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mission_item_reached_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, seq); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, buf, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, buf, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN); +#endif +#else + mavlink_mission_item_reached_t *packet = (mavlink_mission_item_reached_t *)msgbuf; + packet->seq = seq; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, (const char *)packet, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, (const char *)packet, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MISSION_ITEM_REACHED UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request.h index ac84e35540..29b0ef6ef5 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_mission_request_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_MISSION_REQUEST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mission_request_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, seq); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_LEN); +#endif +#else + mavlink_mission_request_t *packet = (mavlink_mission_request_t *)msgbuf; + packet->seq = seq; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, (const char *)packet, MAVLINK_MSG_ID_MISSION_REQUEST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, (const char *)packet, MAVLINK_MSG_ID_MISSION_REQUEST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MISSION_REQUEST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_list.h index d999babdbd..a275348acc 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_list.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_list.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_mission_request_list_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mission_request_list_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN); +#endif +#else + mavlink_mission_request_list_t *packet = (mavlink_mission_request_list_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, (const char *)packet, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, (const char *)packet, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MISSION_REQUEST_LIST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h index 35c7e12856..79a88dc084 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_mission_request_partial_list_send(mavlink_channel #endif } +#if MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mission_request_partial_list_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t start_index, int16_t end_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int16_t(buf, 0, start_index); + _mav_put_int16_t(buf, 2, end_index); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN); +#endif +#else + mavlink_mission_request_partial_list_t *packet = (mavlink_mission_request_partial_list_t *)msgbuf; + packet->start_index = start_index; + packet->end_index = end_index; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, (const char *)packet, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, (const char *)packet, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MISSION_REQUEST_PARTIAL_LIST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_set_current.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_set_current.h index 63b37cf8c8..0c2a3ada4e 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_set_current.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_set_current.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_mission_set_current_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mission_set_current_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, seq); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, buf, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_SET_CURRENT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, buf, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN); +#endif +#else + mavlink_mission_set_current_t *packet = (mavlink_mission_set_current_t *)msgbuf; + packet->seq = seq; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, (const char *)packet, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_SET_CURRENT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, (const char *)packet, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MISSION_SET_CURRENT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h index 7de38bd7b5..17a5a6bdd8 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_mission_write_partial_list_send(mavlink_channel_t #endif } +#if MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_mission_write_partial_list_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t start_index, int16_t end_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int16_t(buf, 0, start_index); + _mav_put_int16_t(buf, 2, end_index); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, buf, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, buf, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN); +#endif +#else + mavlink_mission_write_partial_list_t *packet = (mavlink_mission_write_partial_list_t *)msgbuf; + packet->start_index = start_index; + packet->end_index = end_index; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, (const char *)packet, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, (const char *)packet, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MISSION_WRITE_PARTIAL_LIST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_float.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_float.h index fbf4f75c95..df82704a4b 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_float.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_float.h @@ -162,6 +162,40 @@ static inline void mavlink_msg_named_value_float_send(mavlink_channel_t chan, ui #endif } +#if MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_named_value_float_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, const char *name, float value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, value); + _mav_put_char_array(buf, 8, name, 10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, buf, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, buf, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN); +#endif +#else + mavlink_named_value_float_t *packet = (mavlink_named_value_float_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->value = value; + mav_array_memcpy(packet->name, name, sizeof(char)*10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, (const char *)packet, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, (const char *)packet, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE NAMED_VALUE_FLOAT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_int.h index 052f247935..cfdd73d61e 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_int.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_int.h @@ -162,6 +162,40 @@ static inline void mavlink_msg_named_value_int_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_named_value_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, const char *name, int32_t value) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int32_t(buf, 4, value); + _mav_put_char_array(buf, 8, name, 10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, buf, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, buf, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN); +#endif +#else + mavlink_named_value_int_t *packet = (mavlink_named_value_int_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->value = value; + mav_array_memcpy(packet->name, name, sizeof(char)*10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, (const char *)packet, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, (const char *)packet, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE NAMED_VALUE_INT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h index e95c144de7..b9a748b222 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h @@ -223,6 +223,52 @@ static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan #endif } +#if MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_nav_controller_output_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, nav_roll); + _mav_put_float(buf, 4, nav_pitch); + _mav_put_float(buf, 8, alt_error); + _mav_put_float(buf, 12, aspd_error); + _mav_put_float(buf, 16, xtrack_error); + _mav_put_int16_t(buf, 20, nav_bearing); + _mav_put_int16_t(buf, 22, target_bearing); + _mav_put_uint16_t(buf, 24, wp_dist); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); +#endif +#else + mavlink_nav_controller_output_t *packet = (mavlink_nav_controller_output_t *)msgbuf; + packet->nav_roll = nav_roll; + packet->nav_pitch = nav_pitch; + packet->alt_error = alt_error; + packet->aspd_error = aspd_error; + packet->xtrack_error = xtrack_error; + packet->nav_bearing = nav_bearing; + packet->target_bearing = target_bearing; + packet->wp_dist = wp_dist; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h index 4debb6e663..4ee9c452fb 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h @@ -196,6 +196,46 @@ static inline void mavlink_msg_omnidirectional_flow_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_omnidirectional_flow_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, const int16_t *left, const int16_t *right, uint8_t quality, float front_distance_m) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, front_distance_m); + _mav_put_uint8_t(buf, 52, sensor_id); + _mav_put_uint8_t(buf, 53, quality); + _mav_put_int16_t_array(buf, 12, left, 10); + _mav_put_int16_t_array(buf, 32, right, 10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, buf, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, buf, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN); +#endif +#else + mavlink_omnidirectional_flow_t *packet = (mavlink_omnidirectional_flow_t *)msgbuf; + packet->time_usec = time_usec; + packet->front_distance_m = front_distance_m; + packet->sensor_id = sensor_id; + packet->quality = quality; + mav_array_memcpy(packet->left, left, sizeof(int16_t)*10); + mav_array_memcpy(packet->right, right, sizeof(int16_t)*10); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE OMNIDIRECTIONAL_FLOW UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h index cf6db9147e..6a2efc664f 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h @@ -223,6 +223,52 @@ static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_ #endif } +#if MAVLINK_MSG_ID_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_optical_flow_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, flow_comp_m_x); + _mav_put_float(buf, 12, flow_comp_m_y); + _mav_put_float(buf, 16, ground_distance); + _mav_put_int16_t(buf, 20, flow_x); + _mav_put_int16_t(buf, 22, flow_y); + _mav_put_uint8_t(buf, 24, sensor_id); + _mav_put_uint8_t(buf, 25, quality); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); +#endif +#else + mavlink_optical_flow_t *packet = (mavlink_optical_flow_t *)msgbuf; + packet->time_usec = time_usec; + packet->flow_comp_m_x = flow_comp_m_x; + packet->flow_comp_m_y = flow_comp_m_y; + packet->ground_distance = ground_distance; + packet->flow_x = flow_x; + packet->flow_y = flow_y; + packet->sensor_id = sensor_id; + packet->quality = quality; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE OPTICAL_FLOW UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_list.h index 39e0072741..f9466b002e 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_list.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_list.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, u #endif } +#if MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_param_request_list_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, buf, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, buf, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN); +#endif +#else + mavlink_param_request_list_t *packet = (mavlink_param_request_list_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, (const char *)packet, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, (const char *)packet, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE PARAM_REQUEST_LIST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h index 5d9113114b..730cff0669 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h @@ -173,6 +173,42 @@ static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, u #endif } +#if MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_param_request_read_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int16_t(buf, 0, param_index); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + _mav_put_char_array(buf, 4, param_id, 16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, buf, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_READ_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, buf, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN); +#endif +#else + mavlink_param_request_read_t *packet = (mavlink_param_request_read_t *)msgbuf; + packet->param_index = param_index; + packet->target_system = target_system; + packet->target_component = target_component; + mav_array_memcpy(packet->param_id, param_id, sizeof(char)*16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, (const char *)packet, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_READ_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, (const char *)packet, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE PARAM_REQUEST_READ UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_set.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_set.h index 1bd1f00596..f669af1a25 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_set.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_set.h @@ -184,6 +184,44 @@ static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t ta #endif } +#if MAVLINK_MSG_ID_PARAM_SET_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_param_set_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, float param_value, uint8_t param_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, param_value); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + _mav_put_uint8_t(buf, 22, param_type); + _mav_put_char_array(buf, 6, param_id, 16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, buf, MAVLINK_MSG_ID_PARAM_SET_LEN, MAVLINK_MSG_ID_PARAM_SET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, buf, MAVLINK_MSG_ID_PARAM_SET_LEN); +#endif +#else + mavlink_param_set_t *packet = (mavlink_param_set_t *)msgbuf; + packet->param_value = param_value; + packet->target_system = target_system; + packet->target_component = target_component; + packet->param_type = param_type; + mav_array_memcpy(packet->param_id, param_id, sizeof(char)*16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, (const char *)packet, MAVLINK_MSG_ID_PARAM_SET_LEN, MAVLINK_MSG_ID_PARAM_SET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, (const char *)packet, MAVLINK_MSG_ID_PARAM_SET_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE PARAM_SET UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_value.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_value.h index 17c759811f..c27957913f 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_value.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_value.h @@ -184,6 +184,44 @@ static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const ch #endif } +#if MAVLINK_MSG_ID_PARAM_VALUE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_param_value_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, param_value); + _mav_put_uint16_t(buf, 4, param_count); + _mav_put_uint16_t(buf, 6, param_index); + _mav_put_uint8_t(buf, 24, param_type); + _mav_put_char_array(buf, 8, param_id, 16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#endif +#else + mavlink_param_value_t *packet = (mavlink_param_value_t *)msgbuf; + packet->param_value = param_value; + packet->param_count = param_count; + packet->param_index = param_index; + packet->param_type = param_type; + mav_array_memcpy(packet->param_id, param_id, sizeof(char)*16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE PARAM_VALUE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_ping.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_ping.h index 0c68ca1765..b1501ba1f8 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_ping.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_ping.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint64_t time_u #endif } +#if MAVLINK_MSG_ID_PING_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_ping_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_uint8_t(buf, 12, target_system); + _mav_put_uint8_t(buf, 13, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN); +#endif +#else + mavlink_ping_t *packet = (mavlink_ping_t *)msgbuf; + packet->time_usec = time_usec; + packet->seq = seq; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)packet, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)packet, MAVLINK_MSG_ID_PING_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE PING UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_power_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_power_status.h new file mode 100644 index 0000000000..1a6259aa3d --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_power_status.h @@ -0,0 +1,257 @@ +// MESSAGE POWER_STATUS PACKING + +#define MAVLINK_MSG_ID_POWER_STATUS 125 + +typedef struct __mavlink_power_status_t +{ + uint16_t Vcc; ///< 5V rail voltage in millivolts + uint16_t Vservo; ///< servo rail voltage in millivolts + uint16_t flags; ///< power supply status flags (see MAV_POWER_STATUS enum) +} mavlink_power_status_t; + +#define MAVLINK_MSG_ID_POWER_STATUS_LEN 6 +#define MAVLINK_MSG_ID_125_LEN 6 + +#define MAVLINK_MSG_ID_POWER_STATUS_CRC 203 +#define MAVLINK_MSG_ID_125_CRC 203 + + + +#define MAVLINK_MESSAGE_INFO_POWER_STATUS { \ + "POWER_STATUS", \ + 3, \ + { { "Vcc", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_power_status_t, Vcc) }, \ + { "Vservo", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_power_status_t, Vservo) }, \ + { "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_power_status_t, flags) }, \ + } \ +} + + +/** + * @brief Pack a power_status message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param Vcc 5V rail voltage in millivolts + * @param Vservo servo rail voltage in millivolts + * @param flags power supply status flags (see MAV_POWER_STATUS enum) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_power_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t Vcc, uint16_t Vservo, uint16_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_POWER_STATUS_LEN]; + _mav_put_uint16_t(buf, 0, Vcc); + _mav_put_uint16_t(buf, 2, Vservo); + _mav_put_uint16_t(buf, 4, flags); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POWER_STATUS_LEN); +#else + mavlink_power_status_t packet; + packet.Vcc = Vcc; + packet.Vservo = Vservo; + packet.flags = flags; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POWER_STATUS_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_POWER_STATUS; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POWER_STATUS_LEN, MAVLINK_MSG_ID_POWER_STATUS_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POWER_STATUS_LEN); +#endif +} + +/** + * @brief Pack a power_status message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param Vcc 5V rail voltage in millivolts + * @param Vservo servo rail voltage in millivolts + * @param flags power supply status flags (see MAV_POWER_STATUS enum) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_power_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t Vcc,uint16_t Vservo,uint16_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_POWER_STATUS_LEN]; + _mav_put_uint16_t(buf, 0, Vcc); + _mav_put_uint16_t(buf, 2, Vservo); + _mav_put_uint16_t(buf, 4, flags); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POWER_STATUS_LEN); +#else + mavlink_power_status_t packet; + packet.Vcc = Vcc; + packet.Vservo = Vservo; + packet.flags = flags; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POWER_STATUS_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_POWER_STATUS; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POWER_STATUS_LEN, MAVLINK_MSG_ID_POWER_STATUS_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POWER_STATUS_LEN); +#endif +} + +/** + * @brief Encode a power_status struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param power_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_power_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_power_status_t* power_status) +{ + return mavlink_msg_power_status_pack(system_id, component_id, msg, power_status->Vcc, power_status->Vservo, power_status->flags); +} + +/** + * @brief Encode a power_status struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param power_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_power_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_power_status_t* power_status) +{ + return mavlink_msg_power_status_pack_chan(system_id, component_id, chan, msg, power_status->Vcc, power_status->Vservo, power_status->flags); +} + +/** + * @brief Send a power_status message + * @param chan MAVLink channel to send the message + * + * @param Vcc 5V rail voltage in millivolts + * @param Vservo servo rail voltage in millivolts + * @param flags power supply status flags (see MAV_POWER_STATUS enum) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_power_status_send(mavlink_channel_t chan, uint16_t Vcc, uint16_t Vservo, uint16_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_POWER_STATUS_LEN]; + _mav_put_uint16_t(buf, 0, Vcc); + _mav_put_uint16_t(buf, 2, Vservo); + _mav_put_uint16_t(buf, 4, flags); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POWER_STATUS, buf, MAVLINK_MSG_ID_POWER_STATUS_LEN, MAVLINK_MSG_ID_POWER_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POWER_STATUS, buf, MAVLINK_MSG_ID_POWER_STATUS_LEN); +#endif +#else + mavlink_power_status_t packet; + packet.Vcc = Vcc; + packet.Vservo = Vservo; + packet.flags = flags; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POWER_STATUS, (const char *)&packet, MAVLINK_MSG_ID_POWER_STATUS_LEN, MAVLINK_MSG_ID_POWER_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POWER_STATUS, (const char *)&packet, MAVLINK_MSG_ID_POWER_STATUS_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_POWER_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_power_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t Vcc, uint16_t Vservo, uint16_t flags) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, Vcc); + _mav_put_uint16_t(buf, 2, Vservo); + _mav_put_uint16_t(buf, 4, flags); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POWER_STATUS, buf, MAVLINK_MSG_ID_POWER_STATUS_LEN, MAVLINK_MSG_ID_POWER_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POWER_STATUS, buf, MAVLINK_MSG_ID_POWER_STATUS_LEN); +#endif +#else + mavlink_power_status_t *packet = (mavlink_power_status_t *)msgbuf; + packet->Vcc = Vcc; + packet->Vservo = Vservo; + packet->flags = flags; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POWER_STATUS, (const char *)packet, MAVLINK_MSG_ID_POWER_STATUS_LEN, MAVLINK_MSG_ID_POWER_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POWER_STATUS, (const char *)packet, MAVLINK_MSG_ID_POWER_STATUS_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE POWER_STATUS UNPACKING + + +/** + * @brief Get field Vcc from power_status message + * + * @return 5V rail voltage in millivolts + */ +static inline uint16_t mavlink_msg_power_status_get_Vcc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field Vservo from power_status message + * + * @return servo rail voltage in millivolts + */ +static inline uint16_t mavlink_msg_power_status_get_Vservo(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field flags from power_status message + * + * @return power supply status flags (see MAV_POWER_STATUS enum) + */ +static inline uint16_t mavlink_msg_power_status_get_flags(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Decode a power_status message into a struct + * + * @param msg The message to decode + * @param power_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_power_status_decode(const mavlink_message_t* msg, mavlink_power_status_t* power_status) +{ +#if MAVLINK_NEED_BYTE_SWAP + power_status->Vcc = mavlink_msg_power_status_get_Vcc(msg); + power_status->Vservo = mavlink_msg_power_status_get_Vservo(msg); + power_status->flags = mavlink_msg_power_status_get_flags(msg); +#else + memcpy(power_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_POWER_STATUS_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_radio_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_radio_status.h index fceb7d1688..5763008fe2 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_radio_status.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_radio_status.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_radio_status_send(mavlink_channel_t chan, uint8_t #endif } +#if MAVLINK_MSG_ID_RADIO_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_radio_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, rxerrors); + _mav_put_uint16_t(buf, 2, fixed); + _mav_put_uint8_t(buf, 4, rssi); + _mav_put_uint8_t(buf, 5, remrssi); + _mav_put_uint8_t(buf, 6, txbuf); + _mav_put_uint8_t(buf, 7, noise); + _mav_put_uint8_t(buf, 8, remnoise); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, buf, MAVLINK_MSG_ID_RADIO_STATUS_LEN, MAVLINK_MSG_ID_RADIO_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, buf, MAVLINK_MSG_ID_RADIO_STATUS_LEN); +#endif +#else + mavlink_radio_status_t *packet = (mavlink_radio_status_t *)msgbuf; + packet->rxerrors = rxerrors; + packet->fixed = fixed; + packet->rssi = rssi; + packet->remrssi = remrssi; + packet->txbuf = txbuf; + packet->noise = noise; + packet->remnoise = remnoise; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, (const char *)packet, MAVLINK_MSG_ID_RADIO_STATUS_LEN, MAVLINK_MSG_ID_RADIO_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, (const char *)packet, MAVLINK_MSG_ID_RADIO_STATUS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RADIO_STATUS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_imu.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_imu.h index 62a9b6eeae..a98e8ce721 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_imu.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_imu.h @@ -245,6 +245,56 @@ static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t tim #endif } +#if MAVLINK_MSG_ID_RAW_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_raw_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int16_t(buf, 8, xacc); + _mav_put_int16_t(buf, 10, yacc); + _mav_put_int16_t(buf, 12, zacc); + _mav_put_int16_t(buf, 14, xgyro); + _mav_put_int16_t(buf, 16, ygyro); + _mav_put_int16_t(buf, 18, zgyro); + _mav_put_int16_t(buf, 20, xmag); + _mav_put_int16_t(buf, 22, ymag); + _mav_put_int16_t(buf, 24, zmag); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_LEN); +#endif +#else + mavlink_raw_imu_t *packet = (mavlink_raw_imu_t *)msgbuf; + packet->time_usec = time_usec; + packet->xacc = xacc; + packet->yacc = yacc; + packet->zacc = zacc; + packet->xgyro = xgyro; + packet->ygyro = ygyro; + packet->zgyro = zgyro; + packet->xmag = xmag; + packet->ymag = ymag; + packet->zmag = zmag; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)packet, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)packet, MAVLINK_MSG_ID_RAW_IMU_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RAW_IMU UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_pressure.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_pressure.h index 82c5fad4ab..6bd37fcaee 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_pressure.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_pressure.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_ #endif } +#if MAVLINK_MSG_ID_RAW_PRESSURE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_raw_pressure_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int16_t(buf, 8, press_abs); + _mav_put_int16_t(buf, 10, press_diff1); + _mav_put_int16_t(buf, 12, press_diff2); + _mav_put_int16_t(buf, 14, temperature); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, buf, MAVLINK_MSG_ID_RAW_PRESSURE_LEN, MAVLINK_MSG_ID_RAW_PRESSURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, buf, MAVLINK_MSG_ID_RAW_PRESSURE_LEN); +#endif +#else + mavlink_raw_pressure_t *packet = (mavlink_raw_pressure_t *)msgbuf; + packet->time_usec = time_usec; + packet->press_abs = press_abs; + packet->press_diff1 = press_diff1; + packet->press_diff2 = press_diff2; + packet->temperature = temperature; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, (const char *)packet, MAVLINK_MSG_ID_RAW_PRESSURE_LEN, MAVLINK_MSG_ID_RAW_PRESSURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, (const char *)packet, MAVLINK_MSG_ID_RAW_PRESSURE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RAW_PRESSURE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels.h new file mode 100644 index 0000000000..479af122ff --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels.h @@ -0,0 +1,689 @@ +// MESSAGE RC_CHANNELS PACKING + +#define MAVLINK_MSG_ID_RC_CHANNELS 65 + +typedef struct __mavlink_rc_channels_t +{ + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + uint16_t chan1_raw; ///< RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan2_raw; ///< RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan3_raw; ///< RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan4_raw; ///< RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan5_raw; ///< RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan6_raw; ///< RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan7_raw; ///< RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan8_raw; ///< RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan9_raw; ///< RC channel 9 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan10_raw; ///< RC channel 10 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan11_raw; ///< RC channel 11 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan12_raw; ///< RC channel 12 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan13_raw; ///< RC channel 13 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan14_raw; ///< RC channel 14 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan15_raw; ///< RC channel 15 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan16_raw; ///< RC channel 16 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan17_raw; ///< RC channel 17 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint16_t chan18_raw; ///< RC channel 18 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + uint8_t chancount; ///< Total number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available. + uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. +} mavlink_rc_channels_t; + +#define MAVLINK_MSG_ID_RC_CHANNELS_LEN 42 +#define MAVLINK_MSG_ID_65_LEN 42 + +#define MAVLINK_MSG_ID_RC_CHANNELS_CRC 118 +#define MAVLINK_MSG_ID_65_CRC 118 + + + +#define MAVLINK_MESSAGE_INFO_RC_CHANNELS { \ + "RC_CHANNELS", \ + 21, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_rc_channels_t, time_boot_ms) }, \ + { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_t, chan1_raw) }, \ + { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_t, chan2_raw) }, \ + { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_t, chan3_raw) }, \ + { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_t, chan4_raw) }, \ + { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_t, chan5_raw) }, \ + { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_t, chan6_raw) }, \ + { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_rc_channels_t, chan7_raw) }, \ + { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_rc_channels_t, chan8_raw) }, \ + { "chan9_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_rc_channels_t, chan9_raw) }, \ + { "chan10_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_rc_channels_t, chan10_raw) }, \ + { "chan11_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_rc_channels_t, chan11_raw) }, \ + { "chan12_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_rc_channels_t, chan12_raw) }, \ + { "chan13_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_rc_channels_t, chan13_raw) }, \ + { "chan14_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_rc_channels_t, chan14_raw) }, \ + { "chan15_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_rc_channels_t, chan15_raw) }, \ + { "chan16_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 34, offsetof(mavlink_rc_channels_t, chan16_raw) }, \ + { "chan17_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 36, offsetof(mavlink_rc_channels_t, chan17_raw) }, \ + { "chan18_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 38, offsetof(mavlink_rc_channels_t, chan18_raw) }, \ + { "chancount", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_rc_channels_t, chancount) }, \ + { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_rc_channels_t, rssi) }, \ + } \ +} + + +/** + * @brief Pack a rc_channels message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param chancount Total number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available. + * @param chan1_raw RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan2_raw RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan3_raw RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan4_raw RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan5_raw RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan6_raw RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan7_raw RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan8_raw RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan9_raw RC channel 9 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan10_raw RC channel 10 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan11_raw RC channel 11 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan12_raw RC channel 12 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan13_raw RC channel 13 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan14_raw RC channel 14 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan15_raw RC channel 15 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan16_raw RC channel 16 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan17_raw RC channel 17 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan18_raw RC channel 18 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rc_channels_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, uint8_t chancount, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint16_t chan13_raw, uint16_t chan14_raw, uint16_t chan15_raw, uint16_t chan16_raw, uint16_t chan17_raw, uint16_t chan18_raw, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RC_CHANNELS_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, chan1_raw); + _mav_put_uint16_t(buf, 6, chan2_raw); + _mav_put_uint16_t(buf, 8, chan3_raw); + _mav_put_uint16_t(buf, 10, chan4_raw); + _mav_put_uint16_t(buf, 12, chan5_raw); + _mav_put_uint16_t(buf, 14, chan6_raw); + _mav_put_uint16_t(buf, 16, chan7_raw); + _mav_put_uint16_t(buf, 18, chan8_raw); + _mav_put_uint16_t(buf, 20, chan9_raw); + _mav_put_uint16_t(buf, 22, chan10_raw); + _mav_put_uint16_t(buf, 24, chan11_raw); + _mav_put_uint16_t(buf, 26, chan12_raw); + _mav_put_uint16_t(buf, 28, chan13_raw); + _mav_put_uint16_t(buf, 30, chan14_raw); + _mav_put_uint16_t(buf, 32, chan15_raw); + _mav_put_uint16_t(buf, 34, chan16_raw); + _mav_put_uint16_t(buf, 36, chan17_raw); + _mav_put_uint16_t(buf, 38, chan18_raw); + _mav_put_uint8_t(buf, 40, chancount); + _mav_put_uint8_t(buf, 41, rssi); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RC_CHANNELS_LEN); +#else + mavlink_rc_channels_t packet; + packet.time_boot_ms = time_boot_ms; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.chan9_raw = chan9_raw; + packet.chan10_raw = chan10_raw; + packet.chan11_raw = chan11_raw; + packet.chan12_raw = chan12_raw; + packet.chan13_raw = chan13_raw; + packet.chan14_raw = chan14_raw; + packet.chan15_raw = chan15_raw; + packet.chan16_raw = chan16_raw; + packet.chan17_raw = chan17_raw; + packet.chan18_raw = chan18_raw; + packet.chancount = chancount; + packet.rssi = rssi; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RC_CHANNELS_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RC_CHANNELS_LEN, MAVLINK_MSG_ID_RC_CHANNELS_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RC_CHANNELS_LEN); +#endif +} + +/** + * @brief Pack a rc_channels message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param chancount Total number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available. + * @param chan1_raw RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan2_raw RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan3_raw RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan4_raw RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan5_raw RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan6_raw RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan7_raw RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan8_raw RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan9_raw RC channel 9 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan10_raw RC channel 10 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan11_raw RC channel 11 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan12_raw RC channel 12 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan13_raw RC channel 13 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan14_raw RC channel 14 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan15_raw RC channel 15 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan16_raw RC channel 16 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan17_raw RC channel 17 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan18_raw RC channel 18 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_rc_channels_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,uint8_t chancount,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint16_t chan9_raw,uint16_t chan10_raw,uint16_t chan11_raw,uint16_t chan12_raw,uint16_t chan13_raw,uint16_t chan14_raw,uint16_t chan15_raw,uint16_t chan16_raw,uint16_t chan17_raw,uint16_t chan18_raw,uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RC_CHANNELS_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, chan1_raw); + _mav_put_uint16_t(buf, 6, chan2_raw); + _mav_put_uint16_t(buf, 8, chan3_raw); + _mav_put_uint16_t(buf, 10, chan4_raw); + _mav_put_uint16_t(buf, 12, chan5_raw); + _mav_put_uint16_t(buf, 14, chan6_raw); + _mav_put_uint16_t(buf, 16, chan7_raw); + _mav_put_uint16_t(buf, 18, chan8_raw); + _mav_put_uint16_t(buf, 20, chan9_raw); + _mav_put_uint16_t(buf, 22, chan10_raw); + _mav_put_uint16_t(buf, 24, chan11_raw); + _mav_put_uint16_t(buf, 26, chan12_raw); + _mav_put_uint16_t(buf, 28, chan13_raw); + _mav_put_uint16_t(buf, 30, chan14_raw); + _mav_put_uint16_t(buf, 32, chan15_raw); + _mav_put_uint16_t(buf, 34, chan16_raw); + _mav_put_uint16_t(buf, 36, chan17_raw); + _mav_put_uint16_t(buf, 38, chan18_raw); + _mav_put_uint8_t(buf, 40, chancount); + _mav_put_uint8_t(buf, 41, rssi); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RC_CHANNELS_LEN); +#else + mavlink_rc_channels_t packet; + packet.time_boot_ms = time_boot_ms; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.chan9_raw = chan9_raw; + packet.chan10_raw = chan10_raw; + packet.chan11_raw = chan11_raw; + packet.chan12_raw = chan12_raw; + packet.chan13_raw = chan13_raw; + packet.chan14_raw = chan14_raw; + packet.chan15_raw = chan15_raw; + packet.chan16_raw = chan16_raw; + packet.chan17_raw = chan17_raw; + packet.chan18_raw = chan18_raw; + packet.chancount = chancount; + packet.rssi = rssi; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RC_CHANNELS_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RC_CHANNELS_LEN, MAVLINK_MSG_ID_RC_CHANNELS_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RC_CHANNELS_LEN); +#endif +} + +/** + * @brief Encode a rc_channels struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param rc_channels C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_rc_channels_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_t* rc_channels) +{ + return mavlink_msg_rc_channels_pack(system_id, component_id, msg, rc_channels->time_boot_ms, rc_channels->chancount, rc_channels->chan1_raw, rc_channels->chan2_raw, rc_channels->chan3_raw, rc_channels->chan4_raw, rc_channels->chan5_raw, rc_channels->chan6_raw, rc_channels->chan7_raw, rc_channels->chan8_raw, rc_channels->chan9_raw, rc_channels->chan10_raw, rc_channels->chan11_raw, rc_channels->chan12_raw, rc_channels->chan13_raw, rc_channels->chan14_raw, rc_channels->chan15_raw, rc_channels->chan16_raw, rc_channels->chan17_raw, rc_channels->chan18_raw, rc_channels->rssi); +} + +/** + * @brief Encode a rc_channels struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param rc_channels C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_rc_channels_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rc_channels_t* rc_channels) +{ + return mavlink_msg_rc_channels_pack_chan(system_id, component_id, chan, msg, rc_channels->time_boot_ms, rc_channels->chancount, rc_channels->chan1_raw, rc_channels->chan2_raw, rc_channels->chan3_raw, rc_channels->chan4_raw, rc_channels->chan5_raw, rc_channels->chan6_raw, rc_channels->chan7_raw, rc_channels->chan8_raw, rc_channels->chan9_raw, rc_channels->chan10_raw, rc_channels->chan11_raw, rc_channels->chan12_raw, rc_channels->chan13_raw, rc_channels->chan14_raw, rc_channels->chan15_raw, rc_channels->chan16_raw, rc_channels->chan17_raw, rc_channels->chan18_raw, rc_channels->rssi); +} + +/** + * @brief Send a rc_channels message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param chancount Total number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available. + * @param chan1_raw RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan2_raw RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan3_raw RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan4_raw RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan5_raw RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan6_raw RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan7_raw RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan8_raw RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan9_raw RC channel 9 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan10_raw RC channel 10 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan11_raw RC channel 11 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan12_raw RC channel 12 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan13_raw RC channel 13 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan14_raw RC channel 14 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan15_raw RC channel 15 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan16_raw RC channel 16 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan17_raw RC channel 17 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param chan18_raw RC channel 18 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_rc_channels_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t chancount, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint16_t chan13_raw, uint16_t chan14_raw, uint16_t chan15_raw, uint16_t chan16_raw, uint16_t chan17_raw, uint16_t chan18_raw, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RC_CHANNELS_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, chan1_raw); + _mav_put_uint16_t(buf, 6, chan2_raw); + _mav_put_uint16_t(buf, 8, chan3_raw); + _mav_put_uint16_t(buf, 10, chan4_raw); + _mav_put_uint16_t(buf, 12, chan5_raw); + _mav_put_uint16_t(buf, 14, chan6_raw); + _mav_put_uint16_t(buf, 16, chan7_raw); + _mav_put_uint16_t(buf, 18, chan8_raw); + _mav_put_uint16_t(buf, 20, chan9_raw); + _mav_put_uint16_t(buf, 22, chan10_raw); + _mav_put_uint16_t(buf, 24, chan11_raw); + _mav_put_uint16_t(buf, 26, chan12_raw); + _mav_put_uint16_t(buf, 28, chan13_raw); + _mav_put_uint16_t(buf, 30, chan14_raw); + _mav_put_uint16_t(buf, 32, chan15_raw); + _mav_put_uint16_t(buf, 34, chan16_raw); + _mav_put_uint16_t(buf, 36, chan17_raw); + _mav_put_uint16_t(buf, 38, chan18_raw); + _mav_put_uint8_t(buf, 40, chancount); + _mav_put_uint8_t(buf, 41, rssi); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS, buf, MAVLINK_MSG_ID_RC_CHANNELS_LEN, MAVLINK_MSG_ID_RC_CHANNELS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS, buf, MAVLINK_MSG_ID_RC_CHANNELS_LEN); +#endif +#else + mavlink_rc_channels_t packet; + packet.time_boot_ms = time_boot_ms; + packet.chan1_raw = chan1_raw; + packet.chan2_raw = chan2_raw; + packet.chan3_raw = chan3_raw; + packet.chan4_raw = chan4_raw; + packet.chan5_raw = chan5_raw; + packet.chan6_raw = chan6_raw; + packet.chan7_raw = chan7_raw; + packet.chan8_raw = chan8_raw; + packet.chan9_raw = chan9_raw; + packet.chan10_raw = chan10_raw; + packet.chan11_raw = chan11_raw; + packet.chan12_raw = chan12_raw; + packet.chan13_raw = chan13_raw; + packet.chan14_raw = chan14_raw; + packet.chan15_raw = chan15_raw; + packet.chan16_raw = chan16_raw; + packet.chan17_raw = chan17_raw; + packet.chan18_raw = chan18_raw; + packet.chancount = chancount; + packet.rssi = rssi; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS, (const char *)&packet, MAVLINK_MSG_ID_RC_CHANNELS_LEN, MAVLINK_MSG_ID_RC_CHANNELS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS, (const char *)&packet, MAVLINK_MSG_ID_RC_CHANNELS_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_RC_CHANNELS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_rc_channels_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t chancount, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint16_t chan13_raw, uint16_t chan14_raw, uint16_t chan15_raw, uint16_t chan16_raw, uint16_t chan17_raw, uint16_t chan18_raw, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, chan1_raw); + _mav_put_uint16_t(buf, 6, chan2_raw); + _mav_put_uint16_t(buf, 8, chan3_raw); + _mav_put_uint16_t(buf, 10, chan4_raw); + _mav_put_uint16_t(buf, 12, chan5_raw); + _mav_put_uint16_t(buf, 14, chan6_raw); + _mav_put_uint16_t(buf, 16, chan7_raw); + _mav_put_uint16_t(buf, 18, chan8_raw); + _mav_put_uint16_t(buf, 20, chan9_raw); + _mav_put_uint16_t(buf, 22, chan10_raw); + _mav_put_uint16_t(buf, 24, chan11_raw); + _mav_put_uint16_t(buf, 26, chan12_raw); + _mav_put_uint16_t(buf, 28, chan13_raw); + _mav_put_uint16_t(buf, 30, chan14_raw); + _mav_put_uint16_t(buf, 32, chan15_raw); + _mav_put_uint16_t(buf, 34, chan16_raw); + _mav_put_uint16_t(buf, 36, chan17_raw); + _mav_put_uint16_t(buf, 38, chan18_raw); + _mav_put_uint8_t(buf, 40, chancount); + _mav_put_uint8_t(buf, 41, rssi); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS, buf, MAVLINK_MSG_ID_RC_CHANNELS_LEN, MAVLINK_MSG_ID_RC_CHANNELS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS, buf, MAVLINK_MSG_ID_RC_CHANNELS_LEN); +#endif +#else + mavlink_rc_channels_t *packet = (mavlink_rc_channels_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->chan1_raw = chan1_raw; + packet->chan2_raw = chan2_raw; + packet->chan3_raw = chan3_raw; + packet->chan4_raw = chan4_raw; + packet->chan5_raw = chan5_raw; + packet->chan6_raw = chan6_raw; + packet->chan7_raw = chan7_raw; + packet->chan8_raw = chan8_raw; + packet->chan9_raw = chan9_raw; + packet->chan10_raw = chan10_raw; + packet->chan11_raw = chan11_raw; + packet->chan12_raw = chan12_raw; + packet->chan13_raw = chan13_raw; + packet->chan14_raw = chan14_raw; + packet->chan15_raw = chan15_raw; + packet->chan16_raw = chan16_raw; + packet->chan17_raw = chan17_raw; + packet->chan18_raw = chan18_raw; + packet->chancount = chancount; + packet->rssi = rssi; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS, (const char *)packet, MAVLINK_MSG_ID_RC_CHANNELS_LEN, MAVLINK_MSG_ID_RC_CHANNELS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS, (const char *)packet, MAVLINK_MSG_ID_RC_CHANNELS_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE RC_CHANNELS UNPACKING + + +/** + * @brief Get field time_boot_ms from rc_channels message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_rc_channels_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field chancount from rc_channels message + * + * @return Total number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available. + */ +static inline uint8_t mavlink_msg_rc_channels_get_chancount(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 40); +} + +/** + * @brief Get field chan1_raw from rc_channels message + * + * @return RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan1_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field chan2_raw from rc_channels message + * + * @return RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan2_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Get field chan3_raw from rc_channels message + * + * @return RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan3_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field chan4_raw from rc_channels message + * + * @return RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan4_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 10); +} + +/** + * @brief Get field chan5_raw from rc_channels message + * + * @return RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan5_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 12); +} + +/** + * @brief Get field chan6_raw from rc_channels message + * + * @return RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan6_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 14); +} + +/** + * @brief Get field chan7_raw from rc_channels message + * + * @return RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan7_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 16); +} + +/** + * @brief Get field chan8_raw from rc_channels message + * + * @return RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan8_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 18); +} + +/** + * @brief Get field chan9_raw from rc_channels message + * + * @return RC channel 9 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan9_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 20); +} + +/** + * @brief Get field chan10_raw from rc_channels message + * + * @return RC channel 10 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan10_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 22); +} + +/** + * @brief Get field chan11_raw from rc_channels message + * + * @return RC channel 11 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan11_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 24); +} + +/** + * @brief Get field chan12_raw from rc_channels message + * + * @return RC channel 12 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan12_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 26); +} + +/** + * @brief Get field chan13_raw from rc_channels message + * + * @return RC channel 13 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan13_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 28); +} + +/** + * @brief Get field chan14_raw from rc_channels message + * + * @return RC channel 14 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan14_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 30); +} + +/** + * @brief Get field chan15_raw from rc_channels message + * + * @return RC channel 15 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan15_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 32); +} + +/** + * @brief Get field chan16_raw from rc_channels message + * + * @return RC channel 16 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan16_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 34); +} + +/** + * @brief Get field chan17_raw from rc_channels message + * + * @return RC channel 17 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan17_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 36); +} + +/** + * @brief Get field chan18_raw from rc_channels message + * + * @return RC channel 18 value, in microseconds. A value of UINT16_MAX implies the channel is unused. + */ +static inline uint16_t mavlink_msg_rc_channels_get_chan18_raw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 38); +} + +/** + * @brief Get field rssi from rc_channels message + * + * @return Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. + */ +static inline uint8_t mavlink_msg_rc_channels_get_rssi(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 41); +} + +/** + * @brief Decode a rc_channels message into a struct + * + * @param msg The message to decode + * @param rc_channels C-struct to decode the message contents into + */ +static inline void mavlink_msg_rc_channels_decode(const mavlink_message_t* msg, mavlink_rc_channels_t* rc_channels) +{ +#if MAVLINK_NEED_BYTE_SWAP + rc_channels->time_boot_ms = mavlink_msg_rc_channels_get_time_boot_ms(msg); + rc_channels->chan1_raw = mavlink_msg_rc_channels_get_chan1_raw(msg); + rc_channels->chan2_raw = mavlink_msg_rc_channels_get_chan2_raw(msg); + rc_channels->chan3_raw = mavlink_msg_rc_channels_get_chan3_raw(msg); + rc_channels->chan4_raw = mavlink_msg_rc_channels_get_chan4_raw(msg); + rc_channels->chan5_raw = mavlink_msg_rc_channels_get_chan5_raw(msg); + rc_channels->chan6_raw = mavlink_msg_rc_channels_get_chan6_raw(msg); + rc_channels->chan7_raw = mavlink_msg_rc_channels_get_chan7_raw(msg); + rc_channels->chan8_raw = mavlink_msg_rc_channels_get_chan8_raw(msg); + rc_channels->chan9_raw = mavlink_msg_rc_channels_get_chan9_raw(msg); + rc_channels->chan10_raw = mavlink_msg_rc_channels_get_chan10_raw(msg); + rc_channels->chan11_raw = mavlink_msg_rc_channels_get_chan11_raw(msg); + rc_channels->chan12_raw = mavlink_msg_rc_channels_get_chan12_raw(msg); + rc_channels->chan13_raw = mavlink_msg_rc_channels_get_chan13_raw(msg); + rc_channels->chan14_raw = mavlink_msg_rc_channels_get_chan14_raw(msg); + rc_channels->chan15_raw = mavlink_msg_rc_channels_get_chan15_raw(msg); + rc_channels->chan16_raw = mavlink_msg_rc_channels_get_chan16_raw(msg); + rc_channels->chan17_raw = mavlink_msg_rc_channels_get_chan17_raw(msg); + rc_channels->chan18_raw = mavlink_msg_rc_channels_get_chan18_raw(msg); + rc_channels->chancount = mavlink_msg_rc_channels_get_chancount(msg); + rc_channels->rssi = mavlink_msg_rc_channels_get_rssi(msg); +#else + memcpy(rc_channels, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RC_CHANNELS_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h index 0d8a1514b1..15d4c6f958 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h @@ -245,6 +245,56 @@ static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_rc_channels_override_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, chan1_raw); + _mav_put_uint16_t(buf, 2, chan2_raw); + _mav_put_uint16_t(buf, 4, chan3_raw); + _mav_put_uint16_t(buf, 6, chan4_raw); + _mav_put_uint16_t(buf, 8, chan5_raw); + _mav_put_uint16_t(buf, 10, chan6_raw); + _mav_put_uint16_t(buf, 12, chan7_raw); + _mav_put_uint16_t(buf, 14, chan8_raw); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, buf, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, buf, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN); +#endif +#else + mavlink_rc_channels_override_t *packet = (mavlink_rc_channels_override_t *)msgbuf; + packet->chan1_raw = chan1_raw; + packet->chan2_raw = chan2_raw; + packet->chan3_raw = chan3_raw; + packet->chan4_raw = chan4_raw; + packet->chan5_raw = chan5_raw; + packet->chan6_raw = chan6_raw; + packet->chan7_raw = chan7_raw; + packet->chan8_raw = chan8_raw; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, (const char *)packet, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, (const char *)packet, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RC_CHANNELS_OVERRIDE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h index 3c0aed0202..d75a5934aa 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h @@ -256,6 +256,58 @@ static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_rc_channels_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_uint16_t(buf, 4, chan1_raw); + _mav_put_uint16_t(buf, 6, chan2_raw); + _mav_put_uint16_t(buf, 8, chan3_raw); + _mav_put_uint16_t(buf, 10, chan4_raw); + _mav_put_uint16_t(buf, 12, chan5_raw); + _mav_put_uint16_t(buf, 14, chan6_raw); + _mav_put_uint16_t(buf, 16, chan7_raw); + _mav_put_uint16_t(buf, 18, chan8_raw); + _mav_put_uint8_t(buf, 20, port); + _mav_put_uint8_t(buf, 21, rssi); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN); +#endif +#else + mavlink_rc_channels_raw_t *packet = (mavlink_rc_channels_raw_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->chan1_raw = chan1_raw; + packet->chan2_raw = chan2_raw; + packet->chan3_raw = chan3_raw; + packet->chan4_raw = chan4_raw; + packet->chan5_raw = chan5_raw; + packet->chan6_raw = chan6_raw; + packet->chan7_raw = chan7_raw; + packet->chan8_raw = chan8_raw; + packet->port = port; + packet->rssi = rssi; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)packet, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)packet, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RC_CHANNELS_RAW UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h index 2153ab3928..f400f987dd 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h @@ -256,6 +256,58 @@ static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, u #endif } +#if MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_rc_channels_scaled_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, chan1_scaled); + _mav_put_int16_t(buf, 6, chan2_scaled); + _mav_put_int16_t(buf, 8, chan3_scaled); + _mav_put_int16_t(buf, 10, chan4_scaled); + _mav_put_int16_t(buf, 12, chan5_scaled); + _mav_put_int16_t(buf, 14, chan6_scaled); + _mav_put_int16_t(buf, 16, chan7_scaled); + _mav_put_int16_t(buf, 18, chan8_scaled); + _mav_put_uint8_t(buf, 20, port); + _mav_put_uint8_t(buf, 21, rssi); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, buf, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, buf, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN); +#endif +#else + mavlink_rc_channels_scaled_t *packet = (mavlink_rc_channels_scaled_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->chan1_scaled = chan1_scaled; + packet->chan2_scaled = chan2_scaled; + packet->chan3_scaled = chan3_scaled; + packet->chan4_scaled = chan4_scaled; + packet->chan5_scaled = chan5_scaled; + packet->chan6_scaled = chan6_scaled; + packet->chan7_scaled = chan7_scaled; + packet->chan8_scaled = chan8_scaled; + packet->port = port; + packet->rssi = rssi; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, (const char *)packet, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, (const char *)packet, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RC_CHANNELS_SCALED UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_request_data_stream.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_request_data_stream.h index c754ad8761..2ebcc54da5 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_request_data_stream.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_request_data_stream.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_request_data_stream_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, req_message_rate); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + _mav_put_uint8_t(buf, 4, req_stream_id); + _mav_put_uint8_t(buf, 5, start_stop); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, buf, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, buf, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN); +#endif +#else + mavlink_request_data_stream_t *packet = (mavlink_request_data_stream_t *)msgbuf; + packet->req_message_rate = req_message_rate; + packet->target_system = target_system; + packet->target_component = target_component; + packet->req_stream_id = req_stream_id; + packet->start_stop = start_stop; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, (const char *)packet, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, (const char *)packet, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE REQUEST_DATA_STREAM UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint.h index ac3ef4fa9f..131b756b60 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(mavlink #endif } +#if MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll_rate, float pitch_rate, float yaw_rate, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, roll_rate); + _mav_put_float(buf, 8, pitch_rate); + _mav_put_float(buf, 12, yaw_rate); + _mav_put_float(buf, 16, thrust); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN); +#endif +#else + mavlink_roll_pitch_yaw_rates_thrust_setpoint_t *packet = (mavlink_roll_pitch_yaw_rates_thrust_setpoint_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->roll_rate = roll_rate; + packet->pitch_rate = pitch_rate; + packet->yaw_rate = yaw_rate; + packet->thrust = thrust; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE ROLL_PITCH_YAW_RATES_THRUST_SETPOINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h index 626477322b..757e6d138b 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink #endif } +#if MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, roll_speed); + _mav_put_float(buf, 8, pitch_speed); + _mav_put_float(buf, 12, yaw_speed); + _mav_put_float(buf, 16, thrust); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN); +#endif +#else + mavlink_roll_pitch_yaw_speed_thrust_setpoint_t *packet = (mavlink_roll_pitch_yaw_speed_thrust_setpoint_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->roll_speed = roll_speed; + packet->pitch_speed = pitch_speed; + packet->yaw_speed = yaw_speed; + packet->thrust = thrust; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h index ffcdc547b4..f04eedcb36 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_chann #endif } +#if MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, roll); + _mav_put_float(buf, 8, pitch); + _mav_put_float(buf, 12, yaw); + _mav_put_float(buf, 16, thrust); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN); +#endif +#else + mavlink_roll_pitch_yaw_thrust_setpoint_t *packet = (mavlink_roll_pitch_yaw_thrust_setpoint_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->thrust = thrust; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h index fcd54cbb78..0176dfcc8d 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_safety_allowed_area_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, p1x); + _mav_put_float(buf, 4, p1y); + _mav_put_float(buf, 8, p1z); + _mav_put_float(buf, 12, p2x); + _mav_put_float(buf, 16, p2y); + _mav_put_float(buf, 20, p2z); + _mav_put_uint8_t(buf, 24, frame); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, buf, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, buf, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN); +#endif +#else + mavlink_safety_allowed_area_t *packet = (mavlink_safety_allowed_area_t *)msgbuf; + packet->p1x = p1x; + packet->p1y = p1y; + packet->p1z = p1z; + packet->p2x = p2x; + packet->p2y = p2y; + packet->p2z = p2z; + packet->frame = frame; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, (const char *)packet, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, (const char *)packet, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SAFETY_ALLOWED_AREA UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h index 61f6af1554..dafbc260b4 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h @@ -234,6 +234,54 @@ static inline void mavlink_msg_safety_set_allowed_area_send(mavlink_channel_t ch #endif } +#if MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_safety_set_allowed_area_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, p1x); + _mav_put_float(buf, 4, p1y); + _mav_put_float(buf, 8, p1z); + _mav_put_float(buf, 12, p2x); + _mav_put_float(buf, 16, p2y); + _mav_put_float(buf, 20, p2z); + _mav_put_uint8_t(buf, 24, target_system); + _mav_put_uint8_t(buf, 25, target_component); + _mav_put_uint8_t(buf, 26, frame); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, buf, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, buf, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN); +#endif +#else + mavlink_safety_set_allowed_area_t *packet = (mavlink_safety_set_allowed_area_t *)msgbuf; + packet->p1x = p1x; + packet->p1y = p1y; + packet->p1z = p1z; + packet->p2x = p2x; + packet->p2y = p2y; + packet->p2z = p2z; + packet->target_system = target_system; + packet->target_component = target_component; + packet->frame = frame; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, (const char *)packet, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, (const char *)packet, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SAFETY_SET_ALLOWED_AREA UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h index 3010d051af..1648a56f89 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h @@ -245,6 +245,56 @@ static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint32_t #endif } +#if MAVLINK_MSG_ID_SCALED_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_scaled_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, xacc); + _mav_put_int16_t(buf, 6, yacc); + _mav_put_int16_t(buf, 8, zacc); + _mav_put_int16_t(buf, 10, xgyro); + _mav_put_int16_t(buf, 12, ygyro); + _mav_put_int16_t(buf, 14, zgyro); + _mav_put_int16_t(buf, 16, xmag); + _mav_put_int16_t(buf, 18, ymag); + _mav_put_int16_t(buf, 20, zmag); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_LEN); +#endif +#else + mavlink_scaled_imu_t *packet = (mavlink_scaled_imu_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->xacc = xacc; + packet->yacc = yacc; + packet->zacc = zacc; + packet->xgyro = xgyro; + packet->ygyro = ygyro; + packet->zgyro = zgyro; + packet->xmag = xmag; + packet->ymag = ymag; + packet->zmag = zmag; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SCALED_IMU UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h index ea4dbbf81d..1dea121dde 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h @@ -245,6 +245,56 @@ static inline void mavlink_msg_scaled_imu2_send(mavlink_channel_t chan, uint32_t #endif } +#if MAVLINK_MSG_ID_SCALED_IMU2_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_scaled_imu2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, xacc); + _mav_put_int16_t(buf, 6, yacc); + _mav_put_int16_t(buf, 8, zacc); + _mav_put_int16_t(buf, 10, xgyro); + _mav_put_int16_t(buf, 12, ygyro); + _mav_put_int16_t(buf, 14, zgyro); + _mav_put_int16_t(buf, 16, xmag); + _mav_put_int16_t(buf, 18, ymag); + _mav_put_int16_t(buf, 20, zmag); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN); +#endif +#else + mavlink_scaled_imu2_t *packet = (mavlink_scaled_imu2_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->xacc = xacc; + packet->yacc = yacc; + packet->zacc = zacc; + packet->xgyro = xgyro; + packet->ygyro = ygyro; + packet->zgyro = zgyro; + packet->xmag = xmag; + packet->ymag = ymag; + packet->zmag = zmag; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SCALED_IMU2 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h index 10324bc941..e0d6d87662 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_scaled_pressure_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_SCALED_PRESSURE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_scaled_pressure_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float press_abs, float press_diff, int16_t temperature) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, press_abs); + _mav_put_float(buf, 8, press_diff); + _mav_put_int16_t(buf, 12, temperature); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, buf, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN, MAVLINK_MSG_ID_SCALED_PRESSURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, buf, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN); +#endif +#else + mavlink_scaled_pressure_t *packet = (mavlink_scaled_pressure_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->press_abs = press_abs; + packet->press_diff = press_diff; + packet->temperature = temperature; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, (const char *)packet, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN, MAVLINK_MSG_ID_SCALED_PRESSURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, (const char *)packet, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SCALED_PRESSURE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_serial_control.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_serial_control.h new file mode 100644 index 0000000000..cbf72bae31 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_serial_control.h @@ -0,0 +1,321 @@ +// MESSAGE SERIAL_CONTROL PACKING + +#define MAVLINK_MSG_ID_SERIAL_CONTROL 126 + +typedef struct __mavlink_serial_control_t +{ + uint32_t baudrate; ///< Baudrate of transfer. Zero means no change. + uint16_t timeout; ///< Timeout for reply data in milliseconds + uint8_t device; ///< See SERIAL_CONTROL_DEV enum + uint8_t flags; ///< See SERIAL_CONTROL_FLAG enum + uint8_t count; ///< how many bytes in this transfer + uint8_t data[70]; ///< serial data +} mavlink_serial_control_t; + +#define MAVLINK_MSG_ID_SERIAL_CONTROL_LEN 79 +#define MAVLINK_MSG_ID_126_LEN 79 + +#define MAVLINK_MSG_ID_SERIAL_CONTROL_CRC 220 +#define MAVLINK_MSG_ID_126_CRC 220 + +#define MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN 70 + +#define MAVLINK_MESSAGE_INFO_SERIAL_CONTROL { \ + "SERIAL_CONTROL", \ + 6, \ + { { "baudrate", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_control_t, baudrate) }, \ + { "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_serial_control_t, timeout) }, \ + { "device", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_serial_control_t, device) }, \ + { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_serial_control_t, flags) }, \ + { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_serial_control_t, count) }, \ + { "data", NULL, MAVLINK_TYPE_UINT8_T, 70, 9, offsetof(mavlink_serial_control_t, data) }, \ + } \ +} + + +/** + * @brief Pack a serial_control message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param device See SERIAL_CONTROL_DEV enum + * @param flags See SERIAL_CONTROL_FLAG enum + * @param timeout Timeout for reply data in milliseconds + * @param baudrate Baudrate of transfer. Zero means no change. + * @param count how many bytes in this transfer + * @param data serial data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_serial_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_SERIAL_CONTROL_LEN]; + _mav_put_uint32_t(buf, 0, baudrate); + _mav_put_uint16_t(buf, 4, timeout); + _mav_put_uint8_t(buf, 6, device); + _mav_put_uint8_t(buf, 7, flags); + _mav_put_uint8_t(buf, 8, count); + _mav_put_uint8_t_array(buf, 9, data, 70); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN); +#else + mavlink_serial_control_t packet; + packet.baudrate = baudrate; + packet.timeout = timeout; + packet.device = device; + packet.flags = flags; + packet.count = count; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_SERIAL_CONTROL; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN); +#endif +} + +/** + * @brief Pack a serial_control message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param device See SERIAL_CONTROL_DEV enum + * @param flags See SERIAL_CONTROL_FLAG enum + * @param timeout Timeout for reply data in milliseconds + * @param baudrate Baudrate of transfer. Zero means no change. + * @param count how many bytes in this transfer + * @param data serial data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_serial_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t device,uint8_t flags,uint16_t timeout,uint32_t baudrate,uint8_t count,const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_SERIAL_CONTROL_LEN]; + _mav_put_uint32_t(buf, 0, baudrate); + _mav_put_uint16_t(buf, 4, timeout); + _mav_put_uint8_t(buf, 6, device); + _mav_put_uint8_t(buf, 7, flags); + _mav_put_uint8_t(buf, 8, count); + _mav_put_uint8_t_array(buf, 9, data, 70); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN); +#else + mavlink_serial_control_t packet; + packet.baudrate = baudrate; + packet.timeout = timeout; + packet.device = device; + packet.flags = flags; + packet.count = count; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_SERIAL_CONTROL; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN); +#endif +} + +/** + * @brief Encode a serial_control struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param serial_control C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_serial_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_control_t* serial_control) +{ + return mavlink_msg_serial_control_pack(system_id, component_id, msg, serial_control->device, serial_control->flags, serial_control->timeout, serial_control->baudrate, serial_control->count, serial_control->data); +} + +/** + * @brief Encode a serial_control struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param serial_control C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_serial_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_control_t* serial_control) +{ + return mavlink_msg_serial_control_pack_chan(system_id, component_id, chan, msg, serial_control->device, serial_control->flags, serial_control->timeout, serial_control->baudrate, serial_control->count, serial_control->data); +} + +/** + * @brief Send a serial_control message + * @param chan MAVLink channel to send the message + * + * @param device See SERIAL_CONTROL_DEV enum + * @param flags See SERIAL_CONTROL_FLAG enum + * @param timeout Timeout for reply data in milliseconds + * @param baudrate Baudrate of transfer. Zero means no change. + * @param count how many bytes in this transfer + * @param data serial data + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_serial_control_send(mavlink_channel_t chan, uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_SERIAL_CONTROL_LEN]; + _mav_put_uint32_t(buf, 0, baudrate); + _mav_put_uint16_t(buf, 4, timeout); + _mav_put_uint8_t(buf, 6, device); + _mav_put_uint8_t(buf, 7, flags); + _mav_put_uint8_t(buf, 8, count); + _mav_put_uint8_t_array(buf, 9, data, 70); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN); +#endif +#else + mavlink_serial_control_t packet; + packet.baudrate = baudrate; + packet.timeout = timeout; + packet.device = device; + packet.flags = flags; + packet.count = count; + mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_SERIAL_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, baudrate); + _mav_put_uint16_t(buf, 4, timeout); + _mav_put_uint8_t(buf, 6, device); + _mav_put_uint8_t(buf, 7, flags); + _mav_put_uint8_t(buf, 8, count); + _mav_put_uint8_t_array(buf, 9, data, 70); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN); +#endif +#else + mavlink_serial_control_t *packet = (mavlink_serial_control_t *)msgbuf; + packet->baudrate = baudrate; + packet->timeout = timeout; + packet->device = device; + packet->flags = flags; + packet->count = count; + mav_array_memcpy(packet->data, data, sizeof(uint8_t)*70); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE SERIAL_CONTROL UNPACKING + + +/** + * @brief Get field device from serial_control message + * + * @return See SERIAL_CONTROL_DEV enum + */ +static inline uint8_t mavlink_msg_serial_control_get_device(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 6); +} + +/** + * @brief Get field flags from serial_control message + * + * @return See SERIAL_CONTROL_FLAG enum + */ +static inline uint8_t mavlink_msg_serial_control_get_flags(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 7); +} + +/** + * @brief Get field timeout from serial_control message + * + * @return Timeout for reply data in milliseconds + */ +static inline uint16_t mavlink_msg_serial_control_get_timeout(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field baudrate from serial_control message + * + * @return Baudrate of transfer. Zero means no change. + */ +static inline uint32_t mavlink_msg_serial_control_get_baudrate(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field count from serial_control message + * + * @return how many bytes in this transfer + */ +static inline uint8_t mavlink_msg_serial_control_get_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 8); +} + +/** + * @brief Get field data from serial_control message + * + * @return serial data + */ +static inline uint16_t mavlink_msg_serial_control_get_data(const mavlink_message_t* msg, uint8_t *data) +{ + return _MAV_RETURN_uint8_t_array(msg, data, 70, 9); +} + +/** + * @brief Decode a serial_control message into a struct + * + * @param msg The message to decode + * @param serial_control C-struct to decode the message contents into + */ +static inline void mavlink_msg_serial_control_decode(const mavlink_message_t* msg, mavlink_serial_control_t* serial_control) +{ +#if MAVLINK_NEED_BYTE_SWAP + serial_control->baudrate = mavlink_msg_serial_control_get_baudrate(msg); + serial_control->timeout = mavlink_msg_serial_control_get_timeout(msg); + serial_control->device = mavlink_msg_serial_control_get_device(msg); + serial_control->flags = mavlink_msg_serial_control_get_flags(msg); + serial_control->count = mavlink_msg_serial_control_get_count(msg); + mavlink_msg_serial_control_get_data(msg, serial_control->data); +#else + memcpy(serial_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_CONTROL_LEN); +#endif +} diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h index 6a14e93ed3..e8408862ff 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h @@ -245,6 +245,56 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin #endif } +#if MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_servo_output_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_usec); + _mav_put_uint16_t(buf, 4, servo1_raw); + _mav_put_uint16_t(buf, 6, servo2_raw); + _mav_put_uint16_t(buf, 8, servo3_raw); + _mav_put_uint16_t(buf, 10, servo4_raw); + _mav_put_uint16_t(buf, 12, servo5_raw); + _mav_put_uint16_t(buf, 14, servo6_raw); + _mav_put_uint16_t(buf, 16, servo7_raw); + _mav_put_uint16_t(buf, 18, servo8_raw); + _mav_put_uint8_t(buf, 20, port); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN); +#endif +#else + mavlink_servo_output_raw_t *packet = (mavlink_servo_output_raw_t *)msgbuf; + packet->time_usec = time_usec; + packet->servo1_raw = servo1_raw; + packet->servo2_raw = servo2_raw; + packet->servo3_raw = servo3_raw; + packet->servo4_raw = servo4_raw; + packet->servo5_raw = servo5_raw; + packet->servo6_raw = servo6_raw; + packet->servo7_raw = servo7_raw; + packet->servo8_raw = servo8_raw; + packet->port = port; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERVO_OUTPUT_RAW UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h index 6f0d7a69da..94a7b432bf 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_set_global_position_setpoint_int_send(mavlink_cha #endif } +#if MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_global_position_setpoint_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, latitude); + _mav_put_int32_t(buf, 4, longitude); + _mav_put_int32_t(buf, 8, altitude); + _mav_put_int16_t(buf, 12, yaw); + _mav_put_uint8_t(buf, 14, coordinate_frame); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN); +#endif +#else + mavlink_set_global_position_setpoint_int_t *packet = (mavlink_set_global_position_setpoint_int_t *)msgbuf; + packet->latitude = latitude; + packet->longitude = longitude; + packet->altitude = altitude; + packet->yaw = yaw; + packet->coordinate_frame = coordinate_frame; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, (const char *)packet, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, (const char *)packet, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_GLOBAL_POSITION_SETPOINT_INT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h index c444d8d52c..1c018cbee3 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_set_gps_global_origin_send(mavlink_channel_t chan #endif } +#if MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_gps_global_origin_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, latitude); + _mav_put_int32_t(buf, 4, longitude); + _mav_put_int32_t(buf, 8, altitude); + _mav_put_uint8_t(buf, 12, target_system); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN); +#endif +#else + mavlink_set_gps_global_origin_t *packet = (mavlink_set_gps_global_origin_t *)msgbuf; + packet->latitude = latitude; + packet->longitude = longitude; + packet->altitude = altitude; + packet->target_system = target_system; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, (const char *)packet, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, (const char *)packet, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_GPS_GLOBAL_ORIGIN UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h index 6f2835e031..04dbe6e9a2 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_set_local_position_setpoint_send(mavlink_channel_ #endif } +#if MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_local_position_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + _mav_put_uint8_t(buf, 18, coordinate_frame); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN); +#endif +#else + mavlink_set_local_position_setpoint_t *packet = (mavlink_set_local_position_setpoint_t *)msgbuf; + packet->x = x; + packet->y = y; + packet->z = z; + packet->yaw = yaw; + packet->target_system = target_system; + packet->target_component = target_component; + packet->coordinate_frame = coordinate_frame; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_LOCAL_POSITION_SETPOINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_mode.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_mode.h index 1aff42cce3..4b60a4120b 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_mode.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_mode.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t tar #endif } +#if MAVLINK_MSG_ID_SET_MODE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_mode_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t base_mode, uint32_t custom_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, custom_mode); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, base_mode); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, MAVLINK_MSG_ID_SET_MODE_LEN); +#endif +#else + mavlink_set_mode_t *packet = (mavlink_set_mode_t *)msgbuf; + packet->custom_mode = custom_mode; + packet->target_system = target_system; + packet->base_mode = base_mode; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)packet, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)packet, MAVLINK_MSG_ID_SET_MODE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_MODE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h index 8ceb8888fc..8c0e2a014a 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_set_quad_motors_setpoint_send(mavlink_channel_t c #endif } +#if MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_quad_motors_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint16_t motor_front_nw, uint16_t motor_right_ne, uint16_t motor_back_se, uint16_t motor_left_sw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, motor_front_nw); + _mav_put_uint16_t(buf, 2, motor_right_ne); + _mav_put_uint16_t(buf, 4, motor_back_se); + _mav_put_uint16_t(buf, 6, motor_left_sw); + _mav_put_uint8_t(buf, 8, target_system); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, buf, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, buf, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN); +#endif +#else + mavlink_set_quad_motors_setpoint_t *packet = (mavlink_set_quad_motors_setpoint_t *)msgbuf; + packet->motor_front_nw = motor_front_nw; + packet->motor_right_ne = motor_right_ne; + packet->motor_back_se = motor_back_se; + packet->motor_left_sw = motor_left_sw; + packet->target_system = target_system; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_QUAD_MOTORS_SETPOINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h index 9ef294cc97..c9a084773c 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h @@ -234,6 +234,52 @@ static inline void mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_send(mav #endif } +#if MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t group, uint8_t mode, const uint8_t *led_red, const uint8_t *led_blue, const uint8_t *led_green, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 32, group); + _mav_put_uint8_t(buf, 33, mode); + _mav_put_int16_t_array(buf, 0, roll, 4); + _mav_put_int16_t_array(buf, 8, pitch, 4); + _mav_put_int16_t_array(buf, 16, yaw, 4); + _mav_put_uint16_t_array(buf, 24, thrust, 4); + _mav_put_uint8_t_array(buf, 34, led_red, 4); + _mav_put_uint8_t_array(buf, 38, led_blue, 4); + _mav_put_uint8_t_array(buf, 42, led_green, 4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN); +#endif +#else + mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t *packet = (mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t *)msgbuf; + packet->group = group; + packet->mode = mode; + mav_array_memcpy(packet->roll, roll, sizeof(int16_t)*4); + mav_array_memcpy(packet->pitch, pitch, sizeof(int16_t)*4); + mav_array_memcpy(packet->yaw, yaw, sizeof(int16_t)*4); + mav_array_memcpy(packet->thrust, thrust, sizeof(uint16_t)*4); + mav_array_memcpy(packet->led_red, led_red, sizeof(uint8_t)*4); + mav_array_memcpy(packet->led_blue, led_blue, sizeof(uint8_t)*4); + mav_array_memcpy(packet->led_green, led_green, sizeof(uint8_t)*4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, (const char *)packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, (const char *)packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h index 7d8d526f8b..338bf0e438 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h @@ -198,6 +198,46 @@ static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send(mavlink #endif } +#if MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t group, uint8_t mode, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 32, group); + _mav_put_uint8_t(buf, 33, mode); + _mav_put_int16_t_array(buf, 0, roll, 4); + _mav_put_int16_t_array(buf, 8, pitch, 4); + _mav_put_int16_t_array(buf, 16, yaw, 4); + _mav_put_uint16_t_array(buf, 24, thrust, 4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN); +#endif +#else + mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t *packet = (mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t *)msgbuf; + packet->group = group; + packet->mode = mode; + mav_array_memcpy(packet->roll, roll, sizeof(int16_t)*4); + mav_array_memcpy(packet->pitch, pitch, sizeof(int16_t)*4); + mav_array_memcpy(packet->yaw, yaw, sizeof(int16_t)*4); + mav_array_memcpy(packet->thrust, thrust, sizeof(uint16_t)*4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, (const char *)packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, (const char *)packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h index 5846ba41f7..4d0e5931fa 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(mavlink_chan #endif } +#if MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, roll_speed); + _mav_put_float(buf, 4, pitch_speed); + _mav_put_float(buf, 8, yaw_speed); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN); +#endif +#else + mavlink_set_roll_pitch_yaw_speed_thrust_t *packet = (mavlink_set_roll_pitch_yaw_speed_thrust_t *)msgbuf; + packet->roll_speed = roll_speed; + packet->pitch_speed = pitch_speed; + packet->yaw_speed = yaw_speed; + packet->thrust = thrust; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, (const char *)packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, (const char *)packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h index 334fd39e36..21e0a43f24 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_set_roll_pitch_yaw_thrust_send(mavlink_channel_t #endif } +#if MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_roll_pitch_yaw_thrust_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN); +#endif +#else + mavlink_set_roll_pitch_yaw_thrust_t *packet = (mavlink_set_roll_pitch_yaw_thrust_t *)msgbuf; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->thrust = thrust; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, (const char *)packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, (const char *)packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_ROLL_PITCH_YAW_THRUST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_6dof.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_6dof.h index 93ce345b65..90b63427b9 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_6dof.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_6dof.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_setpoint_6dof_send(mavlink_channel_t chan, uint8_ #endif } +#if MAVLINK_MSG_ID_SETPOINT_6DOF_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_setpoint_6dof_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, trans_x); + _mav_put_float(buf, 4, trans_y); + _mav_put_float(buf, 8, trans_z); + _mav_put_float(buf, 12, rot_x); + _mav_put_float(buf, 16, rot_y); + _mav_put_float(buf, 20, rot_z); + _mav_put_uint8_t(buf, 24, target_system); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN); +#endif +#else + mavlink_setpoint_6dof_t *packet = (mavlink_setpoint_6dof_t *)msgbuf; + packet->trans_x = trans_x; + packet->trans_y = trans_y; + packet->trans_z = trans_z; + packet->rot_x = rot_x; + packet->rot_y = rot_y; + packet->rot_z = rot_z; + packet->target_system = target_system; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, (const char *)packet, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, (const char *)packet, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SETPOINT_6DOF UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_8dof.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_8dof.h index de80e46459..308a211cde 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_8dof.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_8dof.h @@ -234,6 +234,54 @@ static inline void mavlink_msg_setpoint_8dof_send(mavlink_channel_t chan, uint8_ #endif } +#if MAVLINK_MSG_ID_SETPOINT_8DOF_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_setpoint_8dof_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, float val1, float val2, float val3, float val4, float val5, float val6, float val7, float val8) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, val1); + _mav_put_float(buf, 4, val2); + _mav_put_float(buf, 8, val3); + _mav_put_float(buf, 12, val4); + _mav_put_float(buf, 16, val5); + _mav_put_float(buf, 20, val6); + _mav_put_float(buf, 24, val7); + _mav_put_float(buf, 28, val8); + _mav_put_uint8_t(buf, 32, target_system); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, buf, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN, MAVLINK_MSG_ID_SETPOINT_8DOF_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, buf, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN); +#endif +#else + mavlink_setpoint_8dof_t *packet = (mavlink_setpoint_8dof_t *)msgbuf; + packet->val1 = val1; + packet->val2 = val2; + packet->val3 = val3; + packet->val4 = val4; + packet->val5 = val5; + packet->val6 = val6; + packet->val7 = val7; + packet->val8 = val8; + packet->target_system = target_system; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, (const char *)packet, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN, MAVLINK_MSG_ID_SETPOINT_8DOF_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, (const char *)packet, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SETPOINT_8DOF UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h index ebd657cf38..db3a926424 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h @@ -366,6 +366,78 @@ static inline void mavlink_msg_sim_state_send(mavlink_channel_t chan, float q1, #endif } +#if MAVLINK_MSG_ID_SIM_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_sim_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float q1, float q2, float q3, float q4, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lon, float alt, float std_dev_horz, float std_dev_vert, float vn, float ve, float vd) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, q1); + _mav_put_float(buf, 4, q2); + _mav_put_float(buf, 8, q3); + _mav_put_float(buf, 12, q4); + _mav_put_float(buf, 16, roll); + _mav_put_float(buf, 20, pitch); + _mav_put_float(buf, 24, yaw); + _mav_put_float(buf, 28, xacc); + _mav_put_float(buf, 32, yacc); + _mav_put_float(buf, 36, zacc); + _mav_put_float(buf, 40, xgyro); + _mav_put_float(buf, 44, ygyro); + _mav_put_float(buf, 48, zgyro); + _mav_put_float(buf, 52, lat); + _mav_put_float(buf, 56, lon); + _mav_put_float(buf, 60, alt); + _mav_put_float(buf, 64, std_dev_horz); + _mav_put_float(buf, 68, std_dev_vert); + _mav_put_float(buf, 72, vn); + _mav_put_float(buf, 76, ve); + _mav_put_float(buf, 80, vd); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, buf, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, buf, MAVLINK_MSG_ID_SIM_STATE_LEN); +#endif +#else + mavlink_sim_state_t *packet = (mavlink_sim_state_t *)msgbuf; + packet->q1 = q1; + packet->q2 = q2; + packet->q3 = q3; + packet->q4 = q4; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->xacc = xacc; + packet->yacc = yacc; + packet->zacc = zacc; + packet->xgyro = xgyro; + packet->ygyro = ygyro; + packet->zgyro = zgyro; + packet->lat = lat; + packet->lon = lon; + packet->alt = alt; + packet->std_dev_horz = std_dev_horz; + packet->std_dev_vert = std_dev_vert; + packet->vn = vn; + packet->ve = ve; + packet->vd = vd; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, (const char *)packet, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, (const char *)packet, MAVLINK_MSG_ID_SIM_STATE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SIM_STATE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_state_correction.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_state_correction.h index 2db627b96a..be2629dd8a 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_state_correction.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_state_correction.h @@ -234,6 +234,54 @@ static inline void mavlink_msg_state_correction_send(mavlink_channel_t chan, flo #endif } +#if MAVLINK_MSG_ID_STATE_CORRECTION_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_state_correction_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, xErr); + _mav_put_float(buf, 4, yErr); + _mav_put_float(buf, 8, zErr); + _mav_put_float(buf, 12, rollErr); + _mav_put_float(buf, 16, pitchErr); + _mav_put_float(buf, 20, yawErr); + _mav_put_float(buf, 24, vxErr); + _mav_put_float(buf, 28, vyErr); + _mav_put_float(buf, 32, vzErr); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, buf, MAVLINK_MSG_ID_STATE_CORRECTION_LEN, MAVLINK_MSG_ID_STATE_CORRECTION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, buf, MAVLINK_MSG_ID_STATE_CORRECTION_LEN); +#endif +#else + mavlink_state_correction_t *packet = (mavlink_state_correction_t *)msgbuf; + packet->xErr = xErr; + packet->yErr = yErr; + packet->zErr = zErr; + packet->rollErr = rollErr; + packet->pitchErr = pitchErr; + packet->yawErr = yawErr; + packet->vxErr = vxErr; + packet->vyErr = vyErr; + packet->vzErr = vzErr; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, (const char *)packet, MAVLINK_MSG_ID_STATE_CORRECTION_LEN, MAVLINK_MSG_ID_STATE_CORRECTION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, (const char *)packet, MAVLINK_MSG_ID_STATE_CORRECTION_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE STATE_CORRECTION UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h index 536ca06349..c8c2547b31 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h @@ -151,6 +151,38 @@ static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t s #endif } +#if MAVLINK_MSG_ID_STATUSTEXT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_statustext_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t severity, const char *text) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, severity); + _mav_put_char_array(buf, 1, text, 50); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, MAVLINK_MSG_ID_STATUSTEXT_LEN); +#endif +#else + mavlink_statustext_t *packet = (mavlink_statustext_t *)msgbuf; + packet->severity = severity; + mav_array_memcpy(packet->text, text, sizeof(char)*50); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)packet, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)packet, MAVLINK_MSG_ID_STATUSTEXT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE STATUSTEXT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h index 101b366783..1b1730d5f5 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h @@ -278,6 +278,62 @@ static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint32_t #endif } +#if MAVLINK_MSG_ID_SYS_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_sys_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, onboard_control_sensors_present); + _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled); + _mav_put_uint32_t(buf, 8, onboard_control_sensors_health); + _mav_put_uint16_t(buf, 12, load); + _mav_put_uint16_t(buf, 14, voltage_battery); + _mav_put_int16_t(buf, 16, current_battery); + _mav_put_uint16_t(buf, 18, drop_rate_comm); + _mav_put_uint16_t(buf, 20, errors_comm); + _mav_put_uint16_t(buf, 22, errors_count1); + _mav_put_uint16_t(buf, 24, errors_count2); + _mav_put_uint16_t(buf, 26, errors_count3); + _mav_put_uint16_t(buf, 28, errors_count4); + _mav_put_int8_t(buf, 30, battery_remaining); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN); +#endif +#else + mavlink_sys_status_t *packet = (mavlink_sys_status_t *)msgbuf; + packet->onboard_control_sensors_present = onboard_control_sensors_present; + packet->onboard_control_sensors_enabled = onboard_control_sensors_enabled; + packet->onboard_control_sensors_health = onboard_control_sensors_health; + packet->load = load; + packet->voltage_battery = voltage_battery; + packet->current_battery = current_battery; + packet->drop_rate_comm = drop_rate_comm; + packet->errors_comm = errors_comm; + packet->errors_count1 = errors_count1; + packet->errors_count2 = errors_count2; + packet->errors_count3 = errors_count3; + packet->errors_count4 = errors_count4; + packet->battery_remaining = battery_remaining; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)packet, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)packet, MAVLINK_MSG_ID_SYS_STATUS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SYS_STATUS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_system_time.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_system_time.h index 1807567aea..988c669c36 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_system_time.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_system_time.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t #endif } +#if MAVLINK_MSG_ID_SYSTEM_TIME_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_system_time_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_unix_usec, uint32_t time_boot_ms) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_unix_usec); + _mav_put_uint32_t(buf, 8, time_boot_ms); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#endif +#else + mavlink_system_time_t *packet = (mavlink_system_time_t *)msgbuf; + packet->time_unix_usec = time_unix_usec; + packet->time_boot_ms = time_boot_ms; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SYSTEM_TIME UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h index 5b1093a3d7..b130ee50b5 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspe #endif } +#if MAVLINK_MSG_ID_VFR_HUD_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_vfr_hud_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, airspeed); + _mav_put_float(buf, 4, groundspeed); + _mav_put_float(buf, 8, alt); + _mav_put_float(buf, 12, climb); + _mav_put_int16_t(buf, 16, heading); + _mav_put_uint16_t(buf, 18, throttle); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN); +#endif +#else + mavlink_vfr_hud_t *packet = (mavlink_vfr_hud_t *)msgbuf; + packet->airspeed = airspeed; + packet->groundspeed = groundspeed; + packet->alt = alt; + packet->climb = climb; + packet->heading = heading; + packet->throttle = throttle; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)packet, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)packet, MAVLINK_MSG_ID_VFR_HUD_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE VFR_HUD UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h index a254202e4e..b3fa7bc1c1 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch #endif } +#if MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_vicon_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN); +#endif +#else + mavlink_vicon_position_estimate_t *packet = (mavlink_vicon_position_estimate_t *)msgbuf; + packet->usec = usec; + packet->x = x; + packet->y = y; + packet->z = z; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE VICON_POSITION_ESTIMATE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h index f7a741b09e..8f82fb6824 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c #endif } +#if MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_vision_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + _mav_put_float(buf, 20, roll); + _mav_put_float(buf, 24, pitch); + _mav_put_float(buf, 28, yaw); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN); +#endif +#else + mavlink_vision_position_estimate_t *packet = (mavlink_vision_position_estimate_t *)msgbuf; + packet->usec = usec; + packet->x = x; + packet->y = y; + packet->z = z; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE VISION_POSITION_ESTIMATE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h index 6602251283..7528014c76 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan #endif } +#if MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_vision_speed_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, x); + _mav_put_float(buf, 12, y); + _mav_put_float(buf, 16, z); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN); +#endif +#else + mavlink_vision_speed_estimate_t *packet = (mavlink_vision_speed_estimate_t *)msgbuf; + packet->usec = usec; + packet->x = x; + packet->y = y; + packet->z = z; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE VISION_SPEED_ESTIMATE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/common/testsuite.h b/mavlink/include/mavlink/v1.0/common/testsuite.h index c5aa9ddf3a..de23fcb2a2 100644 --- a/mavlink/include/mavlink/v1.0/common/testsuite.h +++ b/mavlink/include/mavlink/v1.0/common/testsuite.h @@ -2805,6 +2805,89 @@ static void mavlink_test_state_correction(uint8_t system_id, uint8_t component_i MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } +static void mavlink_test_rc_channels(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_rc_channels_t packet_in = { + 963497464, + }17443, + }17547, + }17651, + }17755, + }17859, + }17963, + }18067, + }18171, + }18275, + }18379, + }18483, + }18587, + }18691, + }18795, + }18899, + }19003, + }19107, + }19211, + }125, + }192, + }; + mavlink_rc_channels_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.time_boot_ms = packet_in.time_boot_ms; + packet1.chan1_raw = packet_in.chan1_raw; + packet1.chan2_raw = packet_in.chan2_raw; + packet1.chan3_raw = packet_in.chan3_raw; + packet1.chan4_raw = packet_in.chan4_raw; + packet1.chan5_raw = packet_in.chan5_raw; + packet1.chan6_raw = packet_in.chan6_raw; + packet1.chan7_raw = packet_in.chan7_raw; + packet1.chan8_raw = packet_in.chan8_raw; + packet1.chan9_raw = packet_in.chan9_raw; + packet1.chan10_raw = packet_in.chan10_raw; + packet1.chan11_raw = packet_in.chan11_raw; + packet1.chan12_raw = packet_in.chan12_raw; + packet1.chan13_raw = packet_in.chan13_raw; + packet1.chan14_raw = packet_in.chan14_raw; + packet1.chan15_raw = packet_in.chan15_raw; + packet1.chan16_raw = packet_in.chan16_raw; + packet1.chan17_raw = packet_in.chan17_raw; + packet1.chan18_raw = packet_in.chan18_raw; + packet1.chancount = packet_in.chancount; + packet1.rssi = packet_in.rssi; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_rc_channels_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_rc_channels_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_rc_channels_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.chancount , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.chan13_raw , packet1.chan14_raw , packet1.chan15_raw , packet1.chan16_raw , packet1.chan17_raw , packet1.chan18_raw , packet1.rssi ); + mavlink_msg_rc_channels_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_rc_channels_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.chancount , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.chan13_raw , packet1.chan14_raw , packet1.chan15_raw , packet1.chan16_raw , packet1.chan17_raw , packet1.chan18_raw , packet1.rssi ); + mavlink_msg_rc_channels_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */ + MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */ + MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */ + MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */ + MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1| q2 - quaternion param #2| q3 - quaternion param #3| q4 - quaternion param #4| Empty| Empty| Empty| */ MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ + MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Compass/Motor interference calibration: 0: no, 1: yes| Empty| */ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_airspeeds.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_airspeeds.h index bc47a547ad..c834a3df09 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_airspeeds.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_airspeeds.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_airspeeds_send(mavlink_channel_t chan, uint32_t t #endif } +#if MAVLINK_MSG_ID_AIRSPEEDS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_airspeeds_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int16_t airspeed_imu, int16_t airspeed_pitot, int16_t airspeed_hot_wire, int16_t airspeed_ultrasonic, int16_t aoa, int16_t aoy) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int16_t(buf, 4, airspeed_imu); + _mav_put_int16_t(buf, 6, airspeed_pitot); + _mav_put_int16_t(buf, 8, airspeed_hot_wire); + _mav_put_int16_t(buf, 10, airspeed_ultrasonic); + _mav_put_int16_t(buf, 12, aoa); + _mav_put_int16_t(buf, 14, aoy); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEEDS, buf, MAVLINK_MSG_ID_AIRSPEEDS_LEN, MAVLINK_MSG_ID_AIRSPEEDS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEEDS, buf, MAVLINK_MSG_ID_AIRSPEEDS_LEN); +#endif +#else + mavlink_airspeeds_t *packet = (mavlink_airspeeds_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->airspeed_imu = airspeed_imu; + packet->airspeed_pitot = airspeed_pitot; + packet->airspeed_hot_wire = airspeed_hot_wire; + packet->airspeed_ultrasonic = airspeed_ultrasonic; + packet->aoa = aoa; + packet->aoy = aoy; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEEDS, (const char *)packet, MAVLINK_MSG_ID_AIRSPEEDS_LEN, MAVLINK_MSG_ID_AIRSPEEDS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEEDS, (const char *)packet, MAVLINK_MSG_ID_AIRSPEEDS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE AIRSPEEDS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_altitudes.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_altitudes.h index e64787cc73..b009068ffc 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_altitudes.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_altitudes.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_altitudes_send(mavlink_channel_t chan, uint32_t t #endif } +#if MAVLINK_MSG_ID_ALTITUDES_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_altitudes_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int32_t alt_gps, int32_t alt_imu, int32_t alt_barometric, int32_t alt_optical_flow, int32_t alt_range_finder, int32_t alt_extra) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_int32_t(buf, 4, alt_gps); + _mav_put_int32_t(buf, 8, alt_imu); + _mav_put_int32_t(buf, 12, alt_barometric); + _mav_put_int32_t(buf, 16, alt_optical_flow); + _mav_put_int32_t(buf, 20, alt_range_finder); + _mav_put_int32_t(buf, 24, alt_extra); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, buf, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, buf, MAVLINK_MSG_ID_ALTITUDES_LEN); +#endif +#else + mavlink_altitudes_t *packet = (mavlink_altitudes_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->alt_gps = alt_gps; + packet->alt_imu = alt_imu; + packet->alt_barometric = alt_barometric; + packet->alt_optical_flow = alt_optical_flow; + packet->alt_range_finder = alt_range_finder; + packet->alt_extra = alt_extra; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, (const char *)packet, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, (const char *)packet, MAVLINK_MSG_ID_ALTITUDES_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE ALTITUDES UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function.h index 581bd35dc5..e7b803a14b 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function.h @@ -206,6 +206,48 @@ static inline void mavlink_msg_flexifunction_buffer_function_send(mavlink_channe #endif } +#if MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_flexifunction_buffer_function_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t func_index, uint16_t func_count, uint16_t data_address, uint16_t data_size, const int8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, func_index); + _mav_put_uint16_t(buf, 2, func_count); + _mav_put_uint16_t(buf, 4, data_address); + _mav_put_uint16_t(buf, 6, data_size); + _mav_put_uint8_t(buf, 8, target_system); + _mav_put_uint8_t(buf, 9, target_component); + _mav_put_int8_t_array(buf, 10, data, 48); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN); +#endif +#else + mavlink_flexifunction_buffer_function_t *packet = (mavlink_flexifunction_buffer_function_t *)msgbuf; + packet->func_index = func_index; + packet->func_count = func_count; + packet->data_address = data_address; + packet->data_size = data_size; + packet->target_system = target_system; + packet->target_component = target_component; + mav_array_memcpy(packet->data, data, sizeof(int8_t)*48); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FLEXIFUNCTION_BUFFER_FUNCTION UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function_ack.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function_ack.h index 790afd52b3..06631b40ed 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function_ack.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function_ack.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_flexifunction_buffer_function_ack_send(mavlink_ch #endif } +#if MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_flexifunction_buffer_function_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t func_index, uint16_t result) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, func_index); + _mav_put_uint16_t(buf, 2, result); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN); +#endif +#else + mavlink_flexifunction_buffer_function_ack_t *packet = (mavlink_flexifunction_buffer_function_ack_t *)msgbuf; + packet->func_index = func_index; + packet->result = result; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FLEXIFUNCTION_BUFFER_FUNCTION_ACK UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command.h index ce722c8a4d..ac8366eefe 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command.h @@ -168,6 +168,42 @@ static inline void mavlink_msg_flexifunction_command_send(mavlink_channel_t chan #endif } +#if MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_flexifunction_command_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, command_type); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN); +#endif +#else + mavlink_flexifunction_command_t *packet = (mavlink_flexifunction_command_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + packet->command_type = command_type; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FLEXIFUNCTION_COMMAND UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command_ack.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command_ack.h index 070dc4bf8d..c88e2dc39f 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command_ack.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command_ack.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_flexifunction_command_ack_send(mavlink_channel_t #endif } +#if MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_flexifunction_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t command_type, uint16_t result) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, command_type); + _mav_put_uint16_t(buf, 2, result); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN); +#endif +#else + mavlink_flexifunction_command_ack_t *packet = (mavlink_flexifunction_command_ack_t *)msgbuf; + packet->command_type = command_type; + packet->result = result; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FLEXIFUNCTION_COMMAND_ACK UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory.h index ef262a6b1d..619f810c55 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory.h @@ -195,6 +195,46 @@ static inline void mavlink_msg_flexifunction_directory_send(mavlink_channel_t ch #endif } +#if MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_flexifunction_directory_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t directory_type, uint8_t start_index, uint8_t count, const int8_t *directory_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + _mav_put_uint8_t(buf, 2, directory_type); + _mav_put_uint8_t(buf, 3, start_index); + _mav_put_uint8_t(buf, 4, count); + _mav_put_int8_t_array(buf, 5, directory_data, 48); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN); +#endif +#else + mavlink_flexifunction_directory_t *packet = (mavlink_flexifunction_directory_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + packet->directory_type = directory_type; + packet->start_index = start_index; + packet->count = count; + mav_array_memcpy(packet->directory_data, directory_data, sizeof(int8_t)*48); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FLEXIFUNCTION_DIRECTORY UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory_ack.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory_ack.h index d3a386ce54..0287183d85 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory_ack.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory_ack.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_flexifunction_directory_ack_send(mavlink_channel_ #endif } +#if MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_flexifunction_directory_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t directory_type, uint8_t start_index, uint8_t count, uint16_t result) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, result); + _mav_put_uint8_t(buf, 2, target_system); + _mav_put_uint8_t(buf, 3, target_component); + _mav_put_uint8_t(buf, 4, directory_type); + _mav_put_uint8_t(buf, 5, start_index); + _mav_put_uint8_t(buf, 6, count); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN); +#endif +#else + mavlink_flexifunction_directory_ack_t *packet = (mavlink_flexifunction_directory_ack_t *)msgbuf; + packet->result = result; + packet->target_system = target_system; + packet->target_component = target_component; + packet->directory_type = directory_type; + packet->start_index = start_index; + packet->count = count; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FLEXIFUNCTION_DIRECTORY_ACK UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_read_req.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_read_req.h index e50f77b080..570782e792 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_read_req.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_read_req.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_flexifunction_read_req_send(mavlink_channel_t cha #endif } +#if MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_flexifunction_read_req_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t read_req_type, int16_t data_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int16_t(buf, 0, read_req_type); + _mav_put_int16_t(buf, 2, data_index); + _mav_put_uint8_t(buf, 4, target_system); + _mav_put_uint8_t(buf, 5, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN); +#endif +#else + mavlink_flexifunction_read_req_t *packet = (mavlink_flexifunction_read_req_t *)msgbuf; + packet->read_req_type = read_req_type; + packet->data_index = data_index; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FLEXIFUNCTION_READ_REQ UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_set.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_set.h index 41afb3811d..c10000640d 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_set.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_set.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_flexifunction_set_send(mavlink_channel_t chan, ui #endif } +#if MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_flexifunction_set_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, target_system); + _mav_put_uint8_t(buf, 1, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN); +#endif +#else + mavlink_flexifunction_set_t *packet = (mavlink_flexifunction_set_t *)msgbuf; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET, (const char *)packet, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FLEXIFUNCTION_SET UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f13.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f13.h index d21ab48168..bbb753a06b 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f13.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f13.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_serial_udb_extra_f13_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_udb_extra_f13_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int16_t sue_week_no, int32_t sue_lat_origin, int32_t sue_lon_origin, int32_t sue_alt_origin) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, sue_lat_origin); + _mav_put_int32_t(buf, 4, sue_lon_origin); + _mav_put_int32_t(buf, 8, sue_alt_origin); + _mav_put_int16_t(buf, 12, sue_week_no); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN); +#endif +#else + mavlink_serial_udb_extra_f13_t *packet = (mavlink_serial_udb_extra_f13_t *)msgbuf; + packet->sue_lat_origin = sue_lat_origin; + packet->sue_lon_origin = sue_lon_origin; + packet->sue_alt_origin = sue_alt_origin; + packet->sue_week_no = sue_week_no; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERIAL_UDB_EXTRA_F13 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f14.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f14.h index 6ac12f28a6..112564d006 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f14.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f14.h @@ -256,6 +256,58 @@ static inline void mavlink_msg_serial_udb_extra_f14_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_udb_extra_f14_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t sue_WIND_ESTIMATION, uint8_t sue_GPS_TYPE, uint8_t sue_DR, uint8_t sue_BOARD_TYPE, uint8_t sue_AIRFRAME, int16_t sue_RCON, int16_t sue_TRAP_FLAGS, uint32_t sue_TRAP_SOURCE, int16_t sue_osc_fail_count, uint8_t sue_CLOCK_CONFIG, uint8_t sue_FLIGHT_PLAN_TYPE) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, sue_TRAP_SOURCE); + _mav_put_int16_t(buf, 4, sue_RCON); + _mav_put_int16_t(buf, 6, sue_TRAP_FLAGS); + _mav_put_int16_t(buf, 8, sue_osc_fail_count); + _mav_put_uint8_t(buf, 10, sue_WIND_ESTIMATION); + _mav_put_uint8_t(buf, 11, sue_GPS_TYPE); + _mav_put_uint8_t(buf, 12, sue_DR); + _mav_put_uint8_t(buf, 13, sue_BOARD_TYPE); + _mav_put_uint8_t(buf, 14, sue_AIRFRAME); + _mav_put_uint8_t(buf, 15, sue_CLOCK_CONFIG); + _mav_put_uint8_t(buf, 16, sue_FLIGHT_PLAN_TYPE); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN); +#endif +#else + mavlink_serial_udb_extra_f14_t *packet = (mavlink_serial_udb_extra_f14_t *)msgbuf; + packet->sue_TRAP_SOURCE = sue_TRAP_SOURCE; + packet->sue_RCON = sue_RCON; + packet->sue_TRAP_FLAGS = sue_TRAP_FLAGS; + packet->sue_osc_fail_count = sue_osc_fail_count; + packet->sue_WIND_ESTIMATION = sue_WIND_ESTIMATION; + packet->sue_GPS_TYPE = sue_GPS_TYPE; + packet->sue_DR = sue_DR; + packet->sue_BOARD_TYPE = sue_BOARD_TYPE; + packet->sue_AIRFRAME = sue_AIRFRAME; + packet->sue_CLOCK_CONFIG = sue_CLOCK_CONFIG; + packet->sue_FLIGHT_PLAN_TYPE = sue_FLIGHT_PLAN_TYPE; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERIAL_UDB_EXTRA_F14 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f15.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f15.h index 10c3f4ca4f..77666407de 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f15.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f15.h @@ -158,6 +158,40 @@ static inline void mavlink_msg_serial_udb_extra_f15_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_udb_extra_f15_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const uint8_t *sue_ID_VEHICLE_MODEL_NAME, const uint8_t *sue_ID_VEHICLE_REGISTRATION) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + + _mav_put_uint8_t_array(buf, 0, sue_ID_VEHICLE_MODEL_NAME, 40); + _mav_put_uint8_t_array(buf, 40, sue_ID_VEHICLE_REGISTRATION, 20); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN); +#endif +#else + mavlink_serial_udb_extra_f15_t *packet = (mavlink_serial_udb_extra_f15_t *)msgbuf; + + mav_array_memcpy(packet->sue_ID_VEHICLE_MODEL_NAME, sue_ID_VEHICLE_MODEL_NAME, sizeof(uint8_t)*40); + mav_array_memcpy(packet->sue_ID_VEHICLE_REGISTRATION, sue_ID_VEHICLE_REGISTRATION, sizeof(uint8_t)*20); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERIAL_UDB_EXTRA_F15 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f16.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f16.h index 659e6b7c52..ca9f0556f7 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f16.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f16.h @@ -158,6 +158,40 @@ static inline void mavlink_msg_serial_udb_extra_f16_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_udb_extra_f16_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const uint8_t *sue_ID_LEAD_PILOT, const uint8_t *sue_ID_DIY_DRONES_URL) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + + _mav_put_uint8_t_array(buf, 0, sue_ID_LEAD_PILOT, 40); + _mav_put_uint8_t_array(buf, 40, sue_ID_DIY_DRONES_URL, 70); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN); +#endif +#else + mavlink_serial_udb_extra_f16_t *packet = (mavlink_serial_udb_extra_f16_t *)msgbuf; + + mav_array_memcpy(packet->sue_ID_LEAD_PILOT, sue_ID_LEAD_PILOT, sizeof(uint8_t)*40); + mav_array_memcpy(packet->sue_ID_DIY_DRONES_URL, sue_ID_DIY_DRONES_URL, sizeof(uint8_t)*70); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERIAL_UDB_EXTRA_F16 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_a.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_a.h index 15ba68a346..41b9f09c00 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_a.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_a.h @@ -443,6 +443,92 @@ static inline void mavlink_msg_serial_udb_extra_f2_a_send(mavlink_channel_t chan #endif } +#if MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_udb_extra_f2_a_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t sue_time, uint8_t sue_status, int32_t sue_latitude, int32_t sue_longitude, int32_t sue_altitude, uint16_t sue_waypoint_index, int16_t sue_rmat0, int16_t sue_rmat1, int16_t sue_rmat2, int16_t sue_rmat3, int16_t sue_rmat4, int16_t sue_rmat5, int16_t sue_rmat6, int16_t sue_rmat7, int16_t sue_rmat8, uint16_t sue_cog, int16_t sue_sog, uint16_t sue_cpu_load, int16_t sue_voltage_milis, uint16_t sue_air_speed_3DIMU, int16_t sue_estimated_wind_0, int16_t sue_estimated_wind_1, int16_t sue_estimated_wind_2, int16_t sue_magFieldEarth0, int16_t sue_magFieldEarth1, int16_t sue_magFieldEarth2, int16_t sue_svs, int16_t sue_hdop) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, sue_time); + _mav_put_int32_t(buf, 4, sue_latitude); + _mav_put_int32_t(buf, 8, sue_longitude); + _mav_put_int32_t(buf, 12, sue_altitude); + _mav_put_uint16_t(buf, 16, sue_waypoint_index); + _mav_put_int16_t(buf, 18, sue_rmat0); + _mav_put_int16_t(buf, 20, sue_rmat1); + _mav_put_int16_t(buf, 22, sue_rmat2); + _mav_put_int16_t(buf, 24, sue_rmat3); + _mav_put_int16_t(buf, 26, sue_rmat4); + _mav_put_int16_t(buf, 28, sue_rmat5); + _mav_put_int16_t(buf, 30, sue_rmat6); + _mav_put_int16_t(buf, 32, sue_rmat7); + _mav_put_int16_t(buf, 34, sue_rmat8); + _mav_put_uint16_t(buf, 36, sue_cog); + _mav_put_int16_t(buf, 38, sue_sog); + _mav_put_uint16_t(buf, 40, sue_cpu_load); + _mav_put_int16_t(buf, 42, sue_voltage_milis); + _mav_put_uint16_t(buf, 44, sue_air_speed_3DIMU); + _mav_put_int16_t(buf, 46, sue_estimated_wind_0); + _mav_put_int16_t(buf, 48, sue_estimated_wind_1); + _mav_put_int16_t(buf, 50, sue_estimated_wind_2); + _mav_put_int16_t(buf, 52, sue_magFieldEarth0); + _mav_put_int16_t(buf, 54, sue_magFieldEarth1); + _mav_put_int16_t(buf, 56, sue_magFieldEarth2); + _mav_put_int16_t(buf, 58, sue_svs); + _mav_put_int16_t(buf, 60, sue_hdop); + _mav_put_uint8_t(buf, 62, sue_status); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN); +#endif +#else + mavlink_serial_udb_extra_f2_a_t *packet = (mavlink_serial_udb_extra_f2_a_t *)msgbuf; + packet->sue_time = sue_time; + packet->sue_latitude = sue_latitude; + packet->sue_longitude = sue_longitude; + packet->sue_altitude = sue_altitude; + packet->sue_waypoint_index = sue_waypoint_index; + packet->sue_rmat0 = sue_rmat0; + packet->sue_rmat1 = sue_rmat1; + packet->sue_rmat2 = sue_rmat2; + packet->sue_rmat3 = sue_rmat3; + packet->sue_rmat4 = sue_rmat4; + packet->sue_rmat5 = sue_rmat5; + packet->sue_rmat6 = sue_rmat6; + packet->sue_rmat7 = sue_rmat7; + packet->sue_rmat8 = sue_rmat8; + packet->sue_cog = sue_cog; + packet->sue_sog = sue_sog; + packet->sue_cpu_load = sue_cpu_load; + packet->sue_voltage_milis = sue_voltage_milis; + packet->sue_air_speed_3DIMU = sue_air_speed_3DIMU; + packet->sue_estimated_wind_0 = sue_estimated_wind_0; + packet->sue_estimated_wind_1 = sue_estimated_wind_1; + packet->sue_estimated_wind_2 = sue_estimated_wind_2; + packet->sue_magFieldEarth0 = sue_magFieldEarth0; + packet->sue_magFieldEarth1 = sue_magFieldEarth1; + packet->sue_magFieldEarth2 = sue_magFieldEarth2; + packet->sue_svs = sue_svs; + packet->sue_hdop = sue_hdop; + packet->sue_status = sue_status; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERIAL_UDB_EXTRA_F2_A UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_b.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_b.h index 7cb8c87da5..3e1757f743 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_b.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_b.h @@ -498,6 +498,102 @@ static inline void mavlink_msg_serial_udb_extra_f2_b_send(mavlink_channel_t chan #endif } +#if MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_udb_extra_f2_b_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t sue_time, int16_t sue_pwm_input_1, int16_t sue_pwm_input_2, int16_t sue_pwm_input_3, int16_t sue_pwm_input_4, int16_t sue_pwm_input_5, int16_t sue_pwm_input_6, int16_t sue_pwm_input_7, int16_t sue_pwm_input_8, int16_t sue_pwm_input_9, int16_t sue_pwm_input_10, int16_t sue_pwm_output_1, int16_t sue_pwm_output_2, int16_t sue_pwm_output_3, int16_t sue_pwm_output_4, int16_t sue_pwm_output_5, int16_t sue_pwm_output_6, int16_t sue_pwm_output_7, int16_t sue_pwm_output_8, int16_t sue_pwm_output_9, int16_t sue_pwm_output_10, int16_t sue_imu_location_x, int16_t sue_imu_location_y, int16_t sue_imu_location_z, uint32_t sue_flags, int16_t sue_osc_fails, int16_t sue_imu_velocity_x, int16_t sue_imu_velocity_y, int16_t sue_imu_velocity_z, int16_t sue_waypoint_goal_x, int16_t sue_waypoint_goal_y, int16_t sue_waypoint_goal_z, int16_t sue_memory_stack_free) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, sue_time); + _mav_put_uint32_t(buf, 4, sue_flags); + _mav_put_int16_t(buf, 8, sue_pwm_input_1); + _mav_put_int16_t(buf, 10, sue_pwm_input_2); + _mav_put_int16_t(buf, 12, sue_pwm_input_3); + _mav_put_int16_t(buf, 14, sue_pwm_input_4); + _mav_put_int16_t(buf, 16, sue_pwm_input_5); + _mav_put_int16_t(buf, 18, sue_pwm_input_6); + _mav_put_int16_t(buf, 20, sue_pwm_input_7); + _mav_put_int16_t(buf, 22, sue_pwm_input_8); + _mav_put_int16_t(buf, 24, sue_pwm_input_9); + _mav_put_int16_t(buf, 26, sue_pwm_input_10); + _mav_put_int16_t(buf, 28, sue_pwm_output_1); + _mav_put_int16_t(buf, 30, sue_pwm_output_2); + _mav_put_int16_t(buf, 32, sue_pwm_output_3); + _mav_put_int16_t(buf, 34, sue_pwm_output_4); + _mav_put_int16_t(buf, 36, sue_pwm_output_5); + _mav_put_int16_t(buf, 38, sue_pwm_output_6); + _mav_put_int16_t(buf, 40, sue_pwm_output_7); + _mav_put_int16_t(buf, 42, sue_pwm_output_8); + _mav_put_int16_t(buf, 44, sue_pwm_output_9); + _mav_put_int16_t(buf, 46, sue_pwm_output_10); + _mav_put_int16_t(buf, 48, sue_imu_location_x); + _mav_put_int16_t(buf, 50, sue_imu_location_y); + _mav_put_int16_t(buf, 52, sue_imu_location_z); + _mav_put_int16_t(buf, 54, sue_osc_fails); + _mav_put_int16_t(buf, 56, sue_imu_velocity_x); + _mav_put_int16_t(buf, 58, sue_imu_velocity_y); + _mav_put_int16_t(buf, 60, sue_imu_velocity_z); + _mav_put_int16_t(buf, 62, sue_waypoint_goal_x); + _mav_put_int16_t(buf, 64, sue_waypoint_goal_y); + _mav_put_int16_t(buf, 66, sue_waypoint_goal_z); + _mav_put_int16_t(buf, 68, sue_memory_stack_free); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN); +#endif +#else + mavlink_serial_udb_extra_f2_b_t *packet = (mavlink_serial_udb_extra_f2_b_t *)msgbuf; + packet->sue_time = sue_time; + packet->sue_flags = sue_flags; + packet->sue_pwm_input_1 = sue_pwm_input_1; + packet->sue_pwm_input_2 = sue_pwm_input_2; + packet->sue_pwm_input_3 = sue_pwm_input_3; + packet->sue_pwm_input_4 = sue_pwm_input_4; + packet->sue_pwm_input_5 = sue_pwm_input_5; + packet->sue_pwm_input_6 = sue_pwm_input_6; + packet->sue_pwm_input_7 = sue_pwm_input_7; + packet->sue_pwm_input_8 = sue_pwm_input_8; + packet->sue_pwm_input_9 = sue_pwm_input_9; + packet->sue_pwm_input_10 = sue_pwm_input_10; + packet->sue_pwm_output_1 = sue_pwm_output_1; + packet->sue_pwm_output_2 = sue_pwm_output_2; + packet->sue_pwm_output_3 = sue_pwm_output_3; + packet->sue_pwm_output_4 = sue_pwm_output_4; + packet->sue_pwm_output_5 = sue_pwm_output_5; + packet->sue_pwm_output_6 = sue_pwm_output_6; + packet->sue_pwm_output_7 = sue_pwm_output_7; + packet->sue_pwm_output_8 = sue_pwm_output_8; + packet->sue_pwm_output_9 = sue_pwm_output_9; + packet->sue_pwm_output_10 = sue_pwm_output_10; + packet->sue_imu_location_x = sue_imu_location_x; + packet->sue_imu_location_y = sue_imu_location_y; + packet->sue_imu_location_z = sue_imu_location_z; + packet->sue_osc_fails = sue_osc_fails; + packet->sue_imu_velocity_x = sue_imu_velocity_x; + packet->sue_imu_velocity_y = sue_imu_velocity_y; + packet->sue_imu_velocity_z = sue_imu_velocity_z; + packet->sue_waypoint_goal_x = sue_waypoint_goal_x; + packet->sue_waypoint_goal_y = sue_waypoint_goal_y; + packet->sue_waypoint_goal_z = sue_waypoint_goal_z; + packet->sue_memory_stack_free = sue_memory_stack_free; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERIAL_UDB_EXTRA_F2_B UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f4.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f4.h index 77c616cc2e..edd1e924c8 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f4.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f4.h @@ -245,6 +245,56 @@ static inline void mavlink_msg_serial_udb_extra_f4_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_udb_extra_f4_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t sue_ROLL_STABILIZATION_AILERONS, uint8_t sue_ROLL_STABILIZATION_RUDDER, uint8_t sue_PITCH_STABILIZATION, uint8_t sue_YAW_STABILIZATION_RUDDER, uint8_t sue_YAW_STABILIZATION_AILERON, uint8_t sue_AILERON_NAVIGATION, uint8_t sue_RUDDER_NAVIGATION, uint8_t sue_ALTITUDEHOLD_STABILIZED, uint8_t sue_ALTITUDEHOLD_WAYPOINT, uint8_t sue_RACING_MODE) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, sue_ROLL_STABILIZATION_AILERONS); + _mav_put_uint8_t(buf, 1, sue_ROLL_STABILIZATION_RUDDER); + _mav_put_uint8_t(buf, 2, sue_PITCH_STABILIZATION); + _mav_put_uint8_t(buf, 3, sue_YAW_STABILIZATION_RUDDER); + _mav_put_uint8_t(buf, 4, sue_YAW_STABILIZATION_AILERON); + _mav_put_uint8_t(buf, 5, sue_AILERON_NAVIGATION); + _mav_put_uint8_t(buf, 6, sue_RUDDER_NAVIGATION); + _mav_put_uint8_t(buf, 7, sue_ALTITUDEHOLD_STABILIZED); + _mav_put_uint8_t(buf, 8, sue_ALTITUDEHOLD_WAYPOINT); + _mav_put_uint8_t(buf, 9, sue_RACING_MODE); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN); +#endif +#else + mavlink_serial_udb_extra_f4_t *packet = (mavlink_serial_udb_extra_f4_t *)msgbuf; + packet->sue_ROLL_STABILIZATION_AILERONS = sue_ROLL_STABILIZATION_AILERONS; + packet->sue_ROLL_STABILIZATION_RUDDER = sue_ROLL_STABILIZATION_RUDDER; + packet->sue_PITCH_STABILIZATION = sue_PITCH_STABILIZATION; + packet->sue_YAW_STABILIZATION_RUDDER = sue_YAW_STABILIZATION_RUDDER; + packet->sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON; + packet->sue_AILERON_NAVIGATION = sue_AILERON_NAVIGATION; + packet->sue_RUDDER_NAVIGATION = sue_RUDDER_NAVIGATION; + packet->sue_ALTITUDEHOLD_STABILIZED = sue_ALTITUDEHOLD_STABILIZED; + packet->sue_ALTITUDEHOLD_WAYPOINT = sue_ALTITUDEHOLD_WAYPOINT; + packet->sue_RACING_MODE = sue_RACING_MODE; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERIAL_UDB_EXTRA_F4 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f5.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f5.h index e115a9b445..a821f65bb7 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f5.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f5.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_serial_udb_extra_f5_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_udb_extra_f5_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float sue_YAWKP_AILERON, float sue_YAWKD_AILERON, float sue_ROLLKP, float sue_ROLLKD, float sue_YAW_STABILIZATION_AILERON, float sue_AILERON_BOOST) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, sue_YAWKP_AILERON); + _mav_put_float(buf, 4, sue_YAWKD_AILERON); + _mav_put_float(buf, 8, sue_ROLLKP); + _mav_put_float(buf, 12, sue_ROLLKD); + _mav_put_float(buf, 16, sue_YAW_STABILIZATION_AILERON); + _mav_put_float(buf, 20, sue_AILERON_BOOST); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN); +#endif +#else + mavlink_serial_udb_extra_f5_t *packet = (mavlink_serial_udb_extra_f5_t *)msgbuf; + packet->sue_YAWKP_AILERON = sue_YAWKP_AILERON; + packet->sue_YAWKD_AILERON = sue_YAWKD_AILERON; + packet->sue_ROLLKP = sue_ROLLKP; + packet->sue_ROLLKD = sue_ROLLKD; + packet->sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON; + packet->sue_AILERON_BOOST = sue_AILERON_BOOST; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERIAL_UDB_EXTRA_F5 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f6.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f6.h index 656103d090..0eb24c9866 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f6.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f6.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_serial_udb_extra_f6_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_udb_extra_f6_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float sue_PITCHGAIN, float sue_PITCHKD, float sue_RUDDER_ELEV_MIX, float sue_ROLL_ELEV_MIX, float sue_ELEVATOR_BOOST) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, sue_PITCHGAIN); + _mav_put_float(buf, 4, sue_PITCHKD); + _mav_put_float(buf, 8, sue_RUDDER_ELEV_MIX); + _mav_put_float(buf, 12, sue_ROLL_ELEV_MIX); + _mav_put_float(buf, 16, sue_ELEVATOR_BOOST); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN); +#endif +#else + mavlink_serial_udb_extra_f6_t *packet = (mavlink_serial_udb_extra_f6_t *)msgbuf; + packet->sue_PITCHGAIN = sue_PITCHGAIN; + packet->sue_PITCHKD = sue_PITCHKD; + packet->sue_RUDDER_ELEV_MIX = sue_RUDDER_ELEV_MIX; + packet->sue_ROLL_ELEV_MIX = sue_ROLL_ELEV_MIX; + packet->sue_ELEVATOR_BOOST = sue_ELEVATOR_BOOST; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERIAL_UDB_EXTRA_F6 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f7.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f7.h index 51c98e6b7a..58de7d01c8 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f7.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f7.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_serial_udb_extra_f7_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_udb_extra_f7_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float sue_YAWKP_RUDDER, float sue_YAWKD_RUDDER, float sue_ROLLKP_RUDDER, float sue_ROLLKD_RUDDER, float sue_RUDDER_BOOST, float sue_RTL_PITCH_DOWN) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, sue_YAWKP_RUDDER); + _mav_put_float(buf, 4, sue_YAWKD_RUDDER); + _mav_put_float(buf, 8, sue_ROLLKP_RUDDER); + _mav_put_float(buf, 12, sue_ROLLKD_RUDDER); + _mav_put_float(buf, 16, sue_RUDDER_BOOST); + _mav_put_float(buf, 20, sue_RTL_PITCH_DOWN); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN); +#endif +#else + mavlink_serial_udb_extra_f7_t *packet = (mavlink_serial_udb_extra_f7_t *)msgbuf; + packet->sue_YAWKP_RUDDER = sue_YAWKP_RUDDER; + packet->sue_YAWKD_RUDDER = sue_YAWKD_RUDDER; + packet->sue_ROLLKP_RUDDER = sue_ROLLKP_RUDDER; + packet->sue_ROLLKD_RUDDER = sue_ROLLKD_RUDDER; + packet->sue_RUDDER_BOOST = sue_RUDDER_BOOST; + packet->sue_RTL_PITCH_DOWN = sue_RTL_PITCH_DOWN; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERIAL_UDB_EXTRA_F7 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f8.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f8.h index 8557a95e27..5cab816555 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f8.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f8.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_serial_udb_extra_f8_send(mavlink_channel_t chan, #endif } +#if MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_serial_udb_extra_f8_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float sue_HEIGHT_TARGET_MAX, float sue_HEIGHT_TARGET_MIN, float sue_ALT_HOLD_THROTTLE_MIN, float sue_ALT_HOLD_THROTTLE_MAX, float sue_ALT_HOLD_PITCH_MIN, float sue_ALT_HOLD_PITCH_MAX, float sue_ALT_HOLD_PITCH_HIGH) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, sue_HEIGHT_TARGET_MAX); + _mav_put_float(buf, 4, sue_HEIGHT_TARGET_MIN); + _mav_put_float(buf, 8, sue_ALT_HOLD_THROTTLE_MIN); + _mav_put_float(buf, 12, sue_ALT_HOLD_THROTTLE_MAX); + _mav_put_float(buf, 16, sue_ALT_HOLD_PITCH_MIN); + _mav_put_float(buf, 20, sue_ALT_HOLD_PITCH_MAX); + _mav_put_float(buf, 24, sue_ALT_HOLD_PITCH_HIGH); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN); +#endif +#else + mavlink_serial_udb_extra_f8_t *packet = (mavlink_serial_udb_extra_f8_t *)msgbuf; + packet->sue_HEIGHT_TARGET_MAX = sue_HEIGHT_TARGET_MAX; + packet->sue_HEIGHT_TARGET_MIN = sue_HEIGHT_TARGET_MIN; + packet->sue_ALT_HOLD_THROTTLE_MIN = sue_ALT_HOLD_THROTTLE_MIN; + packet->sue_ALT_HOLD_THROTTLE_MAX = sue_ALT_HOLD_THROTTLE_MAX; + packet->sue_ALT_HOLD_PITCH_MIN = sue_ALT_HOLD_PITCH_MIN; + packet->sue_ALT_HOLD_PITCH_MAX = sue_ALT_HOLD_PITCH_MAX; + packet->sue_ALT_HOLD_PITCH_HIGH = sue_ALT_HOLD_PITCH_HIGH; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8, (const char *)packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SERIAL_UDB_EXTRA_F8 UNPACKING diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/version.h b/mavlink/include/mavlink/v1.0/matrixpilot/version.h index a8be16c424..50cbda6c78 100644 --- a/mavlink/include/mavlink/v1.0/matrixpilot/version.h +++ b/mavlink/include/mavlink/v1.0/matrixpilot/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Tue Feb 4 15:28:04 2014" +#define MAVLINK_BUILD_DATE "Sun Apr 13 09:38:32 2014" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h index ef5354d5e1..f1cac9f2cd 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h @@ -234,6 +234,54 @@ static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uin #endif } +#if MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_attitude_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, thrust); + _mav_put_uint8_t(buf, 16, target); + _mav_put_uint8_t(buf, 17, roll_manual); + _mav_put_uint8_t(buf, 18, pitch_manual); + _mav_put_uint8_t(buf, 19, yaw_manual); + _mav_put_uint8_t(buf, 20, thrust_manual); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, buf, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, buf, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); +#endif +#else + mavlink_attitude_control_t *packet = (mavlink_attitude_control_t *)msgbuf; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->thrust = thrust; + packet->target = target; + packet->roll_manual = roll_manual; + packet->pitch_manual = pitch_manual; + packet->yaw_manual = yaw_manual; + packet->thrust_manual = thrust_manual; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE ATTITUDE_CONTROL UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h index d41093792e..7bc27982a8 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h @@ -217,6 +217,50 @@ static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float #endif } +#if MAVLINK_MSG_ID_BRIEF_FEATURE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_brief_feature_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t *descriptor, float response) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, response); + _mav_put_uint16_t(buf, 16, size); + _mav_put_uint16_t(buf, 18, orientation); + _mav_put_uint8_t(buf, 20, orientation_assignment); + _mav_put_uint8_t_array(buf, 21, descriptor, 32); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, buf, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN, MAVLINK_MSG_ID_BRIEF_FEATURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, buf, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN); +#endif +#else + mavlink_brief_feature_t *packet = (mavlink_brief_feature_t *)msgbuf; + packet->x = x; + packet->y = y; + packet->z = z; + packet->response = response; + packet->size = size; + packet->orientation = orientation; + packet->orientation_assignment = orientation_assignment; + mav_array_memcpy(packet->descriptor, descriptor, sizeof(uint8_t)*32); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, (const char *)packet, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN, MAVLINK_MSG_ID_BRIEF_FEATURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, (const char *)packet, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE BRIEF_FEATURE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_available.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_available.h index ae4db825df..37270d49c0 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_available.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_available.h @@ -388,6 +388,82 @@ static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_image_available_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, cam_id); + _mav_put_uint64_t(buf, 8, timestamp); + _mav_put_uint64_t(buf, 16, valid_until); + _mav_put_uint32_t(buf, 24, img_seq); + _mav_put_uint32_t(buf, 28, img_buf_index); + _mav_put_uint32_t(buf, 32, key); + _mav_put_uint32_t(buf, 36, exposure); + _mav_put_float(buf, 40, gain); + _mav_put_float(buf, 44, roll); + _mav_put_float(buf, 48, pitch); + _mav_put_float(buf, 52, yaw); + _mav_put_float(buf, 56, local_z); + _mav_put_float(buf, 60, lat); + _mav_put_float(buf, 64, lon); + _mav_put_float(buf, 68, alt); + _mav_put_float(buf, 72, ground_x); + _mav_put_float(buf, 76, ground_y); + _mav_put_float(buf, 80, ground_z); + _mav_put_uint16_t(buf, 84, width); + _mav_put_uint16_t(buf, 86, height); + _mav_put_uint16_t(buf, 88, depth); + _mav_put_uint8_t(buf, 90, cam_no); + _mav_put_uint8_t(buf, 91, channels); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, buf, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN, MAVLINK_MSG_ID_IMAGE_AVAILABLE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, buf, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN); +#endif +#else + mavlink_image_available_t *packet = (mavlink_image_available_t *)msgbuf; + packet->cam_id = cam_id; + packet->timestamp = timestamp; + packet->valid_until = valid_until; + packet->img_seq = img_seq; + packet->img_buf_index = img_buf_index; + packet->key = key; + packet->exposure = exposure; + packet->gain = gain; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->local_z = local_z; + packet->lat = lat; + packet->lon = lon; + packet->alt = alt; + packet->ground_x = ground_x; + packet->ground_y = ground_y; + packet->ground_z = ground_z; + packet->width = width; + packet->height = height; + packet->depth = depth; + packet->cam_no = cam_no; + packet->channels = channels; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, (const char *)packet, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN, MAVLINK_MSG_ID_IMAGE_AVAILABLE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, (const char *)packet, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE IMAGE_AVAILABLE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_trigger_control.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_trigger_control.h index 664574be94..85f8eff556 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_trigger_control.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_trigger_control.h @@ -146,6 +146,38 @@ static inline void mavlink_msg_image_trigger_control_send(mavlink_channel_t chan #endif } +#if MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_image_trigger_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t enable) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, enable); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, buf, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, buf, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN); +#endif +#else + mavlink_image_trigger_control_t *packet = (mavlink_image_trigger_control_t *)msgbuf; + packet->enable = enable; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, (const char *)packet, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, (const char *)packet, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE IMAGE_TRIGGER_CONTROL UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h index f3a2243afc..b438c74ea5 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h @@ -267,6 +267,60 @@ static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_image_triggered_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, timestamp); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_float(buf, 24, local_z); + _mav_put_float(buf, 28, lat); + _mav_put_float(buf, 32, lon); + _mav_put_float(buf, 36, alt); + _mav_put_float(buf, 40, ground_x); + _mav_put_float(buf, 44, ground_y); + _mav_put_float(buf, 48, ground_z); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, buf, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGERED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, buf, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN); +#endif +#else + mavlink_image_triggered_t *packet = (mavlink_image_triggered_t *)msgbuf; + packet->timestamp = timestamp; + packet->seq = seq; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->local_z = local_z; + packet->lat = lat; + packet->lon = lon; + packet->alt = alt; + packet->ground_x = ground_x; + packet->ground_y = ground_y; + packet->ground_z = ground_z; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, (const char *)packet, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGERED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, (const char *)packet, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE IMAGE_TRIGGERED UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_marker.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_marker.h index 6bdcceaf9a..05452637ea 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_marker.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_marker.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_marker_send(mavlink_channel_t chan, uint16_t id, #endif } +#if MAVLINK_MSG_ID_MARKER_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_marker_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_uint16_t(buf, 24, id); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, buf, MAVLINK_MSG_ID_MARKER_LEN, MAVLINK_MSG_ID_MARKER_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, buf, MAVLINK_MSG_ID_MARKER_LEN); +#endif +#else + mavlink_marker_t *packet = (mavlink_marker_t *)msgbuf; + packet->x = x; + packet->y = y; + packet->z = z; + packet->roll = roll; + packet->pitch = pitch; + packet->yaw = yaw; + packet->id = id; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, (const char *)packet, MAVLINK_MSG_ID_MARKER_LEN, MAVLINK_MSG_ID_MARKER_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, (const char *)packet, MAVLINK_MSG_ID_MARKER_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE MARKER UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_pattern_detected.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_pattern_detected.h index aa7b827a36..bde400da9a 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_pattern_detected.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_pattern_detected.h @@ -173,6 +173,42 @@ static inline void mavlink_msg_pattern_detected_send(mavlink_channel_t chan, uin #endif } +#if MAVLINK_MSG_ID_PATTERN_DETECTED_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_pattern_detected_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, float confidence, const char *file, uint8_t detected) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, confidence); + _mav_put_uint8_t(buf, 4, type); + _mav_put_uint8_t(buf, 105, detected); + _mav_put_char_array(buf, 5, file, 100); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, buf, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN, MAVLINK_MSG_ID_PATTERN_DETECTED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, buf, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN); +#endif +#else + mavlink_pattern_detected_t *packet = (mavlink_pattern_detected_t *)msgbuf; + packet->confidence = confidence; + packet->type = type; + packet->detected = detected; + mav_array_memcpy(packet->file, file, sizeof(char)*100); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, (const char *)packet, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN, MAVLINK_MSG_ID_PATTERN_DETECTED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, (const char *)packet, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE PATTERN_DETECTED UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest.h index 913a52897e..86e9345194 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest.h @@ -217,6 +217,50 @@ static inline void mavlink_msg_point_of_interest_send(mavlink_channel_t chan, ui #endif } +#if MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_point_of_interest_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const char *name) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_uint16_t(buf, 12, timeout); + _mav_put_uint8_t(buf, 14, type); + _mav_put_uint8_t(buf, 15, color); + _mav_put_uint8_t(buf, 16, coordinate_system); + _mav_put_char_array(buf, 17, name, 26); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN); +#endif +#else + mavlink_point_of_interest_t *packet = (mavlink_point_of_interest_t *)msgbuf; + packet->x = x; + packet->y = y; + packet->z = z; + packet->timeout = timeout; + packet->type = type; + packet->color = color; + packet->coordinate_system = coordinate_system; + mav_array_memcpy(packet->name, name, sizeof(char)*26); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, (const char *)packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, (const char *)packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE POINT_OF_INTEREST UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest_connection.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest_connection.h index e244364318..e5c04a851c 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest_connection.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest_connection.h @@ -250,6 +250,56 @@ static inline void mavlink_msg_point_of_interest_connection_send(mavlink_channel #endif } +#if MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_point_of_interest_connection_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float xp1, float yp1, float zp1, float xp2, float yp2, float zp2, const char *name) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, xp1); + _mav_put_float(buf, 4, yp1); + _mav_put_float(buf, 8, zp1); + _mav_put_float(buf, 12, xp2); + _mav_put_float(buf, 16, yp2); + _mav_put_float(buf, 20, zp2); + _mav_put_uint16_t(buf, 24, timeout); + _mav_put_uint8_t(buf, 26, type); + _mav_put_uint8_t(buf, 27, color); + _mav_put_uint8_t(buf, 28, coordinate_system); + _mav_put_char_array(buf, 29, name, 26); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN); +#endif +#else + mavlink_point_of_interest_connection_t *packet = (mavlink_point_of_interest_connection_t *)msgbuf; + packet->xp1 = xp1; + packet->yp1 = yp1; + packet->zp1 = zp1; + packet->xp2 = xp2; + packet->yp2 = yp2; + packet->zp2 = zp2; + packet->timeout = timeout; + packet->type = type; + packet->color = color; + packet->coordinate_system = coordinate_system; + mav_array_memcpy(packet->name, name, sizeof(char)*26); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, (const char *)packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, (const char *)packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE POINT_OF_INTEREST_CONNECTION UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_position_control_setpoint.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_position_control_setpoint.h index 6f4ca510ae..480004cefe 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_position_control_setpoint.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_position_control_setpoint.h @@ -190,6 +190,46 @@ static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t #endif } +#if MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_position_control_setpoint_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t id, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + _mav_put_uint16_t(buf, 16, id); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, buf, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, buf, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN); +#endif +#else + mavlink_position_control_setpoint_t *packet = (mavlink_position_control_setpoint_t *)msgbuf; + packet->x = x; + packet->y = y; + packet->z = z; + packet->yaw = yaw; + packet->id = id; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, (const char *)packet, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE POSITION_CONTROL_SETPOINT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h index 08cedbb4b2..41a5126482 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_raw_aux_send(mavlink_channel_t chan, uint16_t adc #endif } +#if MAVLINK_MSG_ID_RAW_AUX_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_raw_aux_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, baro); + _mav_put_uint16_t(buf, 4, adc1); + _mav_put_uint16_t(buf, 6, adc2); + _mav_put_uint16_t(buf, 8, adc3); + _mav_put_uint16_t(buf, 10, adc4); + _mav_put_uint16_t(buf, 12, vbat); + _mav_put_int16_t(buf, 14, temp); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, buf, MAVLINK_MSG_ID_RAW_AUX_LEN, MAVLINK_MSG_ID_RAW_AUX_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, buf, MAVLINK_MSG_ID_RAW_AUX_LEN); +#endif +#else + mavlink_raw_aux_t *packet = (mavlink_raw_aux_t *)msgbuf; + packet->baro = baro; + packet->adc1 = adc1; + packet->adc2 = adc2; + packet->adc3 = adc3; + packet->adc4 = adc4; + packet->vbat = vbat; + packet->temp = temp; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, (const char *)packet, MAVLINK_MSG_ID_RAW_AUX_LEN, MAVLINK_MSG_ID_RAW_AUX_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, (const char *)packet, MAVLINK_MSG_ID_RAW_AUX_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RAW_AUX UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h index b26d748c25..8fe14dd546 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_set_cam_shutter_send(mavlink_channel_t chan, uint #endif } +#if MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_cam_shutter_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, gain); + _mav_put_uint16_t(buf, 4, interval); + _mav_put_uint16_t(buf, 6, exposure); + _mav_put_uint8_t(buf, 8, cam_no); + _mav_put_uint8_t(buf, 9, cam_mode); + _mav_put_uint8_t(buf, 10, trigger_pin); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, buf, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN, MAVLINK_MSG_ID_SET_CAM_SHUTTER_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, buf, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN); +#endif +#else + mavlink_set_cam_shutter_t *packet = (mavlink_set_cam_shutter_t *)msgbuf; + packet->gain = gain; + packet->interval = interval; + packet->exposure = exposure; + packet->cam_no = cam_no; + packet->cam_mode = cam_mode; + packet->trigger_pin = trigger_pin; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, (const char *)packet, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN, MAVLINK_MSG_ID_SET_CAM_SHUTTER_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, (const char *)packet, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_CAM_SHUTTER UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_position_control_offset.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_position_control_offset.h index f1f9e698f8..c4e4fc19a2 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_position_control_offset.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_position_control_offset.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_set_position_control_offset_send(mavlink_channel_ #endif } +#if MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_set_position_control_offset_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, yaw); + _mav_put_uint8_t(buf, 16, target_system); + _mav_put_uint8_t(buf, 17, target_component); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET, buf, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET, buf, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN); +#endif +#else + mavlink_set_position_control_offset_t *packet = (mavlink_set_position_control_offset_t *)msgbuf; + packet->x = x; + packet->y = y; + packet->z = z; + packet->yaw = yaw; + packet->target_system = target_system; + packet->target_component = target_component; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET, (const char *)packet, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET, (const char *)packet, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SET_POSITION_CONTROL_OFFSET UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_command.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_command.h index 9458087da9..d71a2ed2e3 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_command.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_command.h @@ -179,6 +179,44 @@ static inline void mavlink_msg_watchdog_command_send(mavlink_channel_t chan, uin #endif } +#if MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_watchdog_command_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_id); + _mav_put_uint8_t(buf, 4, target_system_id); + _mav_put_uint8_t(buf, 5, command_id); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, buf, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN, MAVLINK_MSG_ID_WATCHDOG_COMMAND_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, buf, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN); +#endif +#else + mavlink_watchdog_command_t *packet = (mavlink_watchdog_command_t *)msgbuf; + packet->watchdog_id = watchdog_id; + packet->process_id = process_id; + packet->target_system_id = target_system_id; + packet->command_id = command_id; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, (const char *)packet, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN, MAVLINK_MSG_ID_WATCHDOG_COMMAND_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, (const char *)packet, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE WATCHDOG_COMMAND UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h index 3f4295ee5d..a8e49b6426 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, u #endif } +#if MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_watchdog_heartbeat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_count); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, buf, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, buf, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN); +#endif +#else + mavlink_watchdog_heartbeat_t *packet = (mavlink_watchdog_heartbeat_t *)msgbuf; + packet->watchdog_id = watchdog_id; + packet->process_count = process_count; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE WATCHDOG_HEARTBEAT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_info.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_info.h index 55853cdde4..a5e0cc67e4 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_info.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_info.h @@ -185,6 +185,44 @@ static inline void mavlink_msg_watchdog_process_info_send(mavlink_channel_t chan #endif } +#if MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_watchdog_process_info_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, const char *name, const char *arguments, int32_t timeout) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, timeout); + _mav_put_uint16_t(buf, 4, watchdog_id); + _mav_put_uint16_t(buf, 6, process_id); + _mav_put_char_array(buf, 8, name, 100); + _mav_put_char_array(buf, 108, arguments, 147); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN); +#endif +#else + mavlink_watchdog_process_info_t *packet = (mavlink_watchdog_process_info_t *)msgbuf; + packet->timeout = timeout; + packet->watchdog_id = watchdog_id; + packet->process_id = process_id; + mav_array_memcpy(packet->name, name, sizeof(char)*100); + mav_array_memcpy(packet->arguments, arguments, sizeof(char)*147); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, (const char *)packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, (const char *)packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE WATCHDOG_PROCESS_INFO UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_status.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_status.h index a0410d803e..15c9598e40 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_status.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_status.h @@ -201,6 +201,48 @@ static inline void mavlink_msg_watchdog_process_status_send(mavlink_channel_t ch #endif } +#if MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_watchdog_process_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, pid); + _mav_put_uint16_t(buf, 4, watchdog_id); + _mav_put_uint16_t(buf, 6, process_id); + _mav_put_uint16_t(buf, 8, crashes); + _mav_put_uint8_t(buf, 10, state); + _mav_put_uint8_t(buf, 11, muted); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN); +#endif +#else + mavlink_watchdog_process_status_t *packet = (mavlink_watchdog_process_status_t *)msgbuf; + packet->pid = pid; + packet->watchdog_id = watchdog_id; + packet->process_id = process_id; + packet->crashes = crashes; + packet->state = state; + packet->muted = muted; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, (const char *)packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, (const char *)packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE WATCHDOG_PROCESS_STATUS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h index 428619eedb..a624a25797 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 0, 0, 0, 0, 0, 13, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 0, 0, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 42, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 0, 0, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 0, 0, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 0, 0, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 0, 0, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_POSITION_CONTROL_OFFSET, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_RC_CHANNELS, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_POSITION_CONTROL_OFFSET, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" @@ -56,6 +56,7 @@ enum MAV_CMD MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to MISSION using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ @@ -73,8 +74,16 @@ enum MAV_CMD MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */ + MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */ + MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */ + MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */ + MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1| q2 - quaternion param #2| q3 - quaternion param #3| q4 - quaternion param #4| Empty| Empty| Empty| */ MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ + MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Compass/Motor interference calibration: 0: no, 1: yes| Empty| */ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ diff --git a/mavlink/include/mavlink/v1.0/pixhawk/version.h b/mavlink/include/mavlink/v1.0/pixhawk/version.h index aa79f6ffb5..6610a894c9 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/version.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Tue Feb 4 15:28:16 2014" +#define MAVLINK_BUILD_DATE "Sun Apr 13 09:38:46 2014" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_ack.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_ack.h index 73e9d75dbc..a87ce87d37 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_ack.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_ack.h @@ -173,6 +173,40 @@ static inline void mavlink_msg_cmd_airspeed_ack_send(mavlink_channel_t chan, flo #endif } +#if MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_cmd_airspeed_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float spCmd, uint8_t ack) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, spCmd); + _mav_put_uint8_t(buf, 4, ack); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, buf, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, buf, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN); +#endif +#else + mavlink_cmd_airspeed_ack_t *packet = (mavlink_cmd_airspeed_ack_t *)msgbuf; + packet->spCmd = spCmd; + packet->ack = ack; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, (const char *)packet, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, (const char *)packet, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE CMD_AIRSPEED_ACK UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_chng.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_chng.h index b6b567f993..71d61e1e08 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_chng.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_chng.h @@ -173,6 +173,40 @@ static inline void mavlink_msg_cmd_airspeed_chng_send(mavlink_channel_t chan, ui #endif } +#if MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_cmd_airspeed_chng_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, float spCmd) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, spCmd); + _mav_put_uint8_t(buf, 4, target); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, buf, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, buf, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN); +#endif +#else + mavlink_cmd_airspeed_chng_t *packet = (mavlink_cmd_airspeed_chng_t *)msgbuf; + packet->spCmd = spCmd; + packet->target = target; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, (const char *)packet, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, (const char *)packet, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE CMD_AIRSPEED_CHNG UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_filt_rot_vel.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_filt_rot_vel.h index 642f7aab93..40a3db25a0 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_filt_rot_vel.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_filt_rot_vel.h @@ -154,6 +154,38 @@ static inline void mavlink_msg_filt_rot_vel_send(mavlink_channel_t chan, const f #endif } +#if MAVLINK_MSG_ID_FILT_ROT_VEL_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_filt_rot_vel_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const float *rotVel) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + + _mav_put_float_array(buf, 0, rotVel, 3); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, buf, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN, MAVLINK_MSG_ID_FILT_ROT_VEL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, buf, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN); +#endif +#else + mavlink_filt_rot_vel_t *packet = (mavlink_filt_rot_vel_t *)msgbuf; + + mav_array_memcpy(packet->rotVel, rotVel, sizeof(float)*3); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, (const char *)packet, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN, MAVLINK_MSG_ID_FILT_ROT_VEL_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, (const char *)packet, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE FILT_ROT_VEL UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_llc_out.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_llc_out.h index 0f8369881a..bceed1013c 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_llc_out.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_llc_out.h @@ -174,6 +174,40 @@ static inline void mavlink_msg_llc_out_send(mavlink_channel_t chan, const int16_ #endif } +#if MAVLINK_MSG_ID_LLC_OUT_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_llc_out_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const int16_t *servoOut, const int16_t *MotorOut) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + + _mav_put_int16_t_array(buf, 0, servoOut, 4); + _mav_put_int16_t_array(buf, 8, MotorOut, 2); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, buf, MAVLINK_MSG_ID_LLC_OUT_LEN, MAVLINK_MSG_ID_LLC_OUT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, buf, MAVLINK_MSG_ID_LLC_OUT_LEN); +#endif +#else + mavlink_llc_out_t *packet = (mavlink_llc_out_t *)msgbuf; + + mav_array_memcpy(packet->servoOut, servoOut, sizeof(int16_t)*4); + mav_array_memcpy(packet->MotorOut, MotorOut, sizeof(int16_t)*2); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, (const char *)packet, MAVLINK_MSG_ID_LLC_OUT_LEN, MAVLINK_MSG_ID_LLC_OUT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, (const char *)packet, MAVLINK_MSG_ID_LLC_OUT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LLC_OUT UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_temp.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_temp.h index 5d93823262..f5a43e4fa4 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_temp.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_temp.h @@ -154,6 +154,38 @@ static inline void mavlink_msg_obs_air_temp_send(mavlink_channel_t chan, float a #endif } +#if MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_obs_air_temp_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float airT) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, airT); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, buf, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN, MAVLINK_MSG_ID_OBS_AIR_TEMP_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, buf, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN); +#endif +#else + mavlink_obs_air_temp_t *packet = (mavlink_obs_air_temp_t *)msgbuf; + packet->airT = airT; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, (const char *)packet, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN, MAVLINK_MSG_ID_OBS_AIR_TEMP_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, (const char *)packet, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE OBS_AIR_TEMP UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h index 35d813ca15..67d5ab2a22 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h @@ -192,6 +192,42 @@ static inline void mavlink_msg_obs_air_velocity_send(mavlink_channel_t chan, flo #endif } +#if MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_obs_air_velocity_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float magnitude, float aoa, float slip) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, magnitude); + _mav_put_float(buf, 4, aoa); + _mav_put_float(buf, 8, slip); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, buf, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, buf, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN); +#endif +#else + mavlink_obs_air_velocity_t *packet = (mavlink_obs_air_velocity_t *)msgbuf; + packet->magnitude = magnitude; + packet->aoa = aoa; + packet->slip = slip; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, (const char *)packet, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, (const char *)packet, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE OBS_AIR_VELOCITY UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_attitude.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_attitude.h index 9c80cd66eb..e1178e25fa 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_attitude.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_attitude.h @@ -154,6 +154,38 @@ static inline void mavlink_msg_obs_attitude_send(mavlink_channel_t chan, const d #endif } +#if MAVLINK_MSG_ID_OBS_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_obs_attitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const double *quat) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + + _mav_put_double_array(buf, 0, quat, 4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN); +#endif +#else + mavlink_obs_attitude_t *packet = (mavlink_obs_attitude_t *)msgbuf; + + mav_array_memcpy(packet->quat, quat, sizeof(double)*4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE OBS_ATTITUDE UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h index 24dd43b579..b164687ff8 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h @@ -174,6 +174,40 @@ static inline void mavlink_msg_obs_bias_send(mavlink_channel_t chan, const float #endif } +#if MAVLINK_MSG_ID_OBS_BIAS_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_obs_bias_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const float *accBias, const float *gyroBias) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + + _mav_put_float_array(buf, 0, accBias, 3); + _mav_put_float_array(buf, 12, gyroBias, 3); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, MAVLINK_MSG_ID_OBS_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, MAVLINK_MSG_ID_OBS_BIAS_LEN); +#endif +#else + mavlink_obs_bias_t *packet = (mavlink_obs_bias_t *)msgbuf; + + mav_array_memcpy(packet->accBias, accBias, sizeof(float)*3); + mav_array_memcpy(packet->gyroBias, gyroBias, sizeof(float)*3); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)packet, MAVLINK_MSG_ID_OBS_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)packet, MAVLINK_MSG_ID_OBS_BIAS_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE OBS_BIAS UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_position.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_position.h index cfc2fe7e10..f0ecef0e7e 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_position.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_position.h @@ -192,6 +192,42 @@ static inline void mavlink_msg_obs_position_send(mavlink_channel_t chan, int32_t #endif } +#if MAVLINK_MSG_ID_OBS_POSITION_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_obs_position_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int32_t lon, int32_t lat, int32_t alt) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, lon); + _mav_put_int32_t(buf, 4, lat); + _mav_put_int32_t(buf, 8, alt); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, buf, MAVLINK_MSG_ID_OBS_POSITION_LEN, MAVLINK_MSG_ID_OBS_POSITION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, buf, MAVLINK_MSG_ID_OBS_POSITION_LEN); +#endif +#else + mavlink_obs_position_t *packet = (mavlink_obs_position_t *)msgbuf; + packet->lon = lon; + packet->lat = lat; + packet->alt = alt; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, (const char *)packet, MAVLINK_MSG_ID_OBS_POSITION_LEN, MAVLINK_MSG_ID_OBS_POSITION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, (const char *)packet, MAVLINK_MSG_ID_OBS_POSITION_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE OBS_POSITION UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_qff.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_qff.h index 24e272bf7a..31617c8839 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_qff.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_qff.h @@ -154,6 +154,38 @@ static inline void mavlink_msg_obs_qff_send(mavlink_channel_t chan, float qff) #endif } +#if MAVLINK_MSG_ID_OBS_QFF_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_obs_qff_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float qff) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, qff); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, buf, MAVLINK_MSG_ID_OBS_QFF_LEN, MAVLINK_MSG_ID_OBS_QFF_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, buf, MAVLINK_MSG_ID_OBS_QFF_LEN); +#endif +#else + mavlink_obs_qff_t *packet = (mavlink_obs_qff_t *)msgbuf; + packet->qff = qff; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, (const char *)packet, MAVLINK_MSG_ID_OBS_QFF_LEN, MAVLINK_MSG_ID_OBS_QFF_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, (const char *)packet, MAVLINK_MSG_ID_OBS_QFF_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE OBS_QFF UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_velocity.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_velocity.h index 6e3776632b..ec815d6929 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_velocity.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_velocity.h @@ -154,6 +154,38 @@ static inline void mavlink_msg_obs_velocity_send(mavlink_channel_t chan, const f #endif } +#if MAVLINK_MSG_ID_OBS_VELOCITY_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_obs_velocity_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const float *vel) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + + _mav_put_float_array(buf, 0, vel, 3); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, buf, MAVLINK_MSG_ID_OBS_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_VELOCITY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, buf, MAVLINK_MSG_ID_OBS_VELOCITY_LEN); +#endif +#else + mavlink_obs_velocity_t *packet = (mavlink_obs_velocity_t *)msgbuf; + + mav_array_memcpy(packet->vel, vel, sizeof(float)*3); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, (const char *)packet, MAVLINK_MSG_ID_OBS_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_VELOCITY_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, (const char *)packet, MAVLINK_MSG_ID_OBS_VELOCITY_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE OBS_VELOCITY UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_wind.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_wind.h index 55f7cb2ae1..c40391d441 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_wind.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_wind.h @@ -154,6 +154,38 @@ static inline void mavlink_msg_obs_wind_send(mavlink_channel_t chan, const float #endif } +#if MAVLINK_MSG_ID_OBS_WIND_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_obs_wind_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const float *wind) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + + _mav_put_float_array(buf, 0, wind, 3); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, buf, MAVLINK_MSG_ID_OBS_WIND_LEN, MAVLINK_MSG_ID_OBS_WIND_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, buf, MAVLINK_MSG_ID_OBS_WIND_LEN); +#endif +#else + mavlink_obs_wind_t *packet = (mavlink_obs_wind_t *)msgbuf; + + mav_array_memcpy(packet->wind, wind, sizeof(float)*3); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, (const char *)packet, MAVLINK_MSG_ID_OBS_WIND_LEN, MAVLINK_MSG_ID_OBS_WIND_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, (const char *)packet, MAVLINK_MSG_ID_OBS_WIND_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE OBS_WIND UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_pm_elec.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_pm_elec.h index e0963ece79..70524f464c 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_pm_elec.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_pm_elec.h @@ -186,6 +186,40 @@ static inline void mavlink_msg_pm_elec_send(mavlink_channel_t chan, float PwCons #endif } +#if MAVLINK_MSG_ID_PM_ELEC_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_pm_elec_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float PwCons, float BatStat, const float *PwGen) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, PwCons); + _mav_put_float(buf, 4, BatStat); + _mav_put_float_array(buf, 8, PwGen, 3); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, buf, MAVLINK_MSG_ID_PM_ELEC_LEN, MAVLINK_MSG_ID_PM_ELEC_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, buf, MAVLINK_MSG_ID_PM_ELEC_LEN); +#endif +#else + mavlink_pm_elec_t *packet = (mavlink_pm_elec_t *)msgbuf; + packet->PwCons = PwCons; + packet->BatStat = BatStat; + mav_array_memcpy(packet->PwGen, PwGen, sizeof(float)*3); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, (const char *)packet, MAVLINK_MSG_ID_PM_ELEC_LEN, MAVLINK_MSG_ID_PM_ELEC_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, (const char *)packet, MAVLINK_MSG_ID_PM_ELEC_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE PM_ELEC UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_sys_stat.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_sys_stat.h index 94f3e58bb9..72f8a8193b 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_sys_stat.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_sys_stat.h @@ -211,6 +211,44 @@ static inline void mavlink_msg_sys_stat_send(mavlink_channel_t chan, uint8_t gps #endif } +#if MAVLINK_MSG_ID_SYS_Stat_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_sys_stat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t gps, uint8_t act, uint8_t mod, uint8_t commRssi) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, gps); + _mav_put_uint8_t(buf, 1, act); + _mav_put_uint8_t(buf, 2, mod); + _mav_put_uint8_t(buf, 3, commRssi); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, buf, MAVLINK_MSG_ID_SYS_Stat_LEN, MAVLINK_MSG_ID_SYS_Stat_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, buf, MAVLINK_MSG_ID_SYS_Stat_LEN); +#endif +#else + mavlink_sys_stat_t *packet = (mavlink_sys_stat_t *)msgbuf; + packet->gps = gps; + packet->act = act; + packet->mod = mod; + packet->commRssi = commRssi; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, (const char *)packet, MAVLINK_MSG_ID_SYS_Stat_LEN, MAVLINK_MSG_ID_SYS_Stat_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, (const char *)packet, MAVLINK_MSG_ID_SYS_Stat_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SYS_Stat UNPACKING diff --git a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h index 26666b0cc7..2eab863546 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 0, 0, 0, 0, 0, 13, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 42, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 6, 79, 0, 0, 0, 13, 255, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 0, 0, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 203, 220, 0, 0, 0, 29, 223, 85, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_POSITION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_ATTITUDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_BIAS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_QFF, MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP, MAVLINK_MESSAGE_INFO_FILT_ROT_VEL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LLC_OUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PM_ELEC, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SYS_Stat, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_RC_CHANNELS, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_POSITION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_ATTITUDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_BIAS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_QFF, MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP, MAVLINK_MESSAGE_INFO_FILT_ROT_VEL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LLC_OUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PM_ELEC, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SYS_Stat, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" diff --git a/mavlink/include/mavlink/v1.0/sensesoar/version.h b/mavlink/include/mavlink/v1.0/sensesoar/version.h index cdd683949e..78d5628039 100644 --- a/mavlink/include/mavlink/v1.0/sensesoar/version.h +++ b/mavlink/include/mavlink/v1.0/sensesoar/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Tue Feb 4 15:28:27 2014" +#define MAVLINK_BUILD_DATE "Sun Apr 13 09:39:00 2014" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/nuttx-configs/aerocore/include/board.h b/nuttx-configs/aerocore/include/board.h new file mode 100644 index 0000000000..8705c1bc25 --- /dev/null +++ b/nuttx-configs/aerocore/include/board.h @@ -0,0 +1,263 @@ +/************************************************************************************ + * configs/aerocore/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 NuttX 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. + * + ************************************************************************************/ + +#ifndef __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include +#ifndef __ASSEMBLY__ +# include +#endif + +#include + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The AeroCore uses a 24MHz crystal connected to the HSE. + * + * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c: + * System Clock source : PLL (HSE) + * SYSCLK(Hz) : 168000000 Determined by PLL configuration + * HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE) + * AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE) + * APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1) + * APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2) + * HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL) + * PLLM : 24 (STM32_PLLCFG_PLLM) + * PLLN : 336 (STM32_PLLCFG_PLLN) + * PLLP : 2 (STM32_PLLCFG_PLLP) + * PLLQ : 7 (STM32_PLLCFG_PPQ) + * Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK + * Flash Latency(WS) : 5 + * Prefetch Buffer : OFF + * Instruction cache : ON + * Data cache : ON + * Require 48MHz for USB OTG FS, : Enabled + * SDIO and RNG clock + */ + +/* HSI - 16 MHz RC factory-trimmed + * LSI - 32 KHz RC + * HSE - On-board crystal frequency is 24MHz + * LSE - not installed + */ + +#define STM32_BOARD_XTAL 24000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL + +/* Main PLL Configuration. + * + * PLL source is HSE + * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * = (24,000,000 / 24) * 336 + * = 336,000,000 + * SYSCLK = PLL_VCO / PLLP + * = 336,000,000 / 2 = 168,000,000 + * USB OTG FS, SDIO and RNG Clock + * = PLL_VCO / PLLQ + * = 48,000,000 + */ + +#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24) +#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336) +#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2 +#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7) + +#define STM32_SYSCLK_FREQUENCY 168000000ul + +/* AHB clock (HCLK) is SYSCLK (168MHz) */ + +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */ + +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4) + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */ + +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY) + +/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx + * otherwise frequency is 2xAPBx. + * Note: TIM1,8 are on APB2, others on APB1 + */ + +#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY) +#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY) + +/* Alternate function pin selections ************************************************/ + +/* + * UARTs. + */ +/* USART1 on PB[6,7]: GPS */ +#define GPIO_USART1_RX GPIO_USART1_RX_2 +#define GPIO_USART1_TX GPIO_USART1_TX_2 + +/* USART2 on PD[5,6]: J5 Breakout */ +#define GPIO_USART2_RX GPIO_USART2_RX_2 +#define GPIO_USART2_TX GPIO_USART2_TX_2 +#define GPIO_USART2_CTS 0 // unused +#define GPIO_USART2_RTS 0 // unused + +/* USART3 on PD[8,9]: to DuoVero UART2 */ +#define GPIO_USART3_RX GPIO_USART3_RX_3 +#define GPIO_USART3_TX GPIO_USART3_TX_3 +#define GPIO_USART3_CTS 0 // unused +#define GPIO_USART3_RTS 0 // unused + +/* UART7 on PE[78]: J7 Breakout */ +#define GPIO_UART7_RX GPIO_UART7_RX_1 +#define GPIO_UART7_TX GPIO_UART7_TX_1 + +/* + * UART8 on PE[0-1]: System Console on Port C of USB (J7) + * No alternate pin config +*/ + +/* USART[1,6] require a RX DMA configuration */ +#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 +#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 + +/* + * I2C + * + * The optional _GPIO configurations allow the I2C driver to manually + * reset the bus to clear stuck slaves. They match the pin configuration, + * but are normally-high GPIOs. + */ + +/* PB[10-11]: I2C2 is broken out on J9 header */ +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 +#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10) +#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) + +/* + * SPI + */ +/* PA[4-7] SPI1 broken out on J12 */ +#define GPIO_SPI1_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) /* should be GPIO_SPI1_NSS_2 but use as a GPIO */ +#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz) +#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz) +#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz) + +/* PB[12-15]: SPI2 connected to DuoVero SPI1 */ +#define GPIO_SPI2_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) /* should be GPIO_SPI2_NSS_2 but use as a GPIO */ +#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz) +#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz) + +/* PC[10-12]: SPI3 connected to onboard sensors */ +#define GPIO_SPI3_SCK (GPIO_SPI3_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI3_MISO (GPIO_SPI3_MISO_2|GPIO_SPEED_50MHz) +#define GPIO_SPI3_MOSI (GPIO_SPI3_MOSI_2|GPIO_SPEED_50MHz) + +/* PE[11-14]: SPI4 connected to FRAM */ +#define GPIO_SPI4_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11) /* should be GPIO_SPI4_NSS_2 but use as a GPIO */ +#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_2|GPIO_SPEED_50MHz) +#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_2|GPIO_SPEED_50MHz) + +/************************************************************************************ + * Public Data + ************************************************************************************/ +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/************************************************************************************ + * Public Function Prototypes + ************************************************************************************/ +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +EXTERN void stm32_boardinitialize(void); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/src/modules/controllib/uorb/UOrbPublication.cpp b/nuttx-configs/aerocore/include/nsh_romfsimg.h similarity index 86% rename from src/modules/controllib/uorb/UOrbPublication.cpp rename to nuttx-configs/aerocore/include/nsh_romfsimg.h index f69b39d90d..15e4e7a8d5 100644 --- a/src/modules/controllib/uorb/UOrbPublication.cpp +++ b/nuttx-configs/aerocore/include/nsh_romfsimg.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,8 +32,11 @@ ****************************************************************************/ /** - * @file UOrbPublication.cpp + * nsh_romfsetc.h * + * This file is a stub for 'make export' purposes; the actual ROMFS + * must be supplied by the library client. */ -#include "UOrbPublication.hpp" +extern unsigned char romfs_img[]; +extern unsigned int romfs_img_len; diff --git a/nuttx-configs/aerocore/nsh/Make.defs b/nuttx-configs/aerocore/nsh/Make.defs new file mode 100644 index 0000000000..c7a1b71bbd --- /dev/null +++ b/nuttx-configs/aerocore/nsh/Make.defs @@ -0,0 +1,179 @@ +############################################################################ +# configs/aerocore/nsh/Make.defs +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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 NuttX 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. +# +############################################################################ + +include ${TOPDIR}/.config +include ${TOPDIR}/tools/Config.mk + +# +# We only support building with the ARM bare-metal toolchain from +# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS. +# +CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI + +include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +MAXOPTIMIZATION = -O3 +ARCHCPUFLAGS = -mcpu=cortex-m4 \ + -mthumb \ + -march=armv7e-m \ + -mfpu=fpv4-sp-d16 \ + -mfloat-abi=hard + + +# enable precise stack overflow tracking +INSTRUMENTATIONDEFINES = -finstrument-functions \ + -ffixed-r10 + +# pull in *just* libm from the toolchain ... this is grody +LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}" +EXTRA_LIBS += $(LIBM) + +# use our linker script +LDSCRIPT = ld.script + +ifeq ($(WINTOOL),y) + # Windows-native toolchains + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}" +else + ifeq ($(PX4_WINTOOL),y) + # Windows-native toolchains (MSYS) + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + else + # Linux/Cygwin-native toolchain + MKDEP = $(TOPDIR)/tools/mkdeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + endif +endif + +# tool versions +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} + +# optimisation flags +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections + +ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") +ARCHOPTIMIZATION += -g +endif + +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +ARCHWARNINGS = -Wall \ + -Wextra \ + -Wdouble-promotion \ + -Wshadow \ + -Wfloat-equal \ + -Wframe-larger-than=1024 \ + -Wpointer-arith \ + -Wlogical-op \ + -Wmissing-declarations \ + -Wpacked \ + -Wno-unused-parameter +# -Wcast-qual - generates spurious noreturn attribute warnings, try again later +# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code +# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives + +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs \ + -Wunsuffixed-float-constants +ARCHWARNINGSXX = $(ARCHWARNINGS) \ + -Wno-psabi +ARCHDEFINES = +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +# this seems to be the only way to add linker flags +EXTRA_LIBS += --warn-common \ + --gc-sections + +CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +OBJEXT = .o +LIBEXT = .a +EXEEXT = + + +# produce partially-linked $1 from files in $2 +define PRELINK + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +HOSTCC = gcc +HOSTINCLUDES = -I. +HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe +HOSTLDFLAGS = + diff --git a/nuttx-configs/aerocore/nsh/appconfig b/nuttx-configs/aerocore/nsh/appconfig new file mode 100644 index 0000000000..2850dac06e --- /dev/null +++ b/nuttx-configs/aerocore/nsh/appconfig @@ -0,0 +1,42 @@ +############################################################################ +# configs/aerocore/nsh/appconfig +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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 NuttX 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. +# +############################################################################ + +# Path to example in apps/examples containing the user_start entry point + +CONFIGURED_APPS += examples/nsh + +# The NSH application library +CONFIGURED_APPS += nshlib +CONFIGURED_APPS += system/readline diff --git a/nuttx-configs/aerocore/nsh/defconfig b/nuttx-configs/aerocore/nsh/defconfig new file mode 100644 index 0000000000..8d0bae7b9f --- /dev/null +++ b/nuttx-configs/aerocore/nsh/defconfig @@ -0,0 +1,950 @@ +# +# Automatically generated file; DO NOT EDIT. +# Nuttx/ Configuration +# +CONFIG_NUTTX_NEWCONFIG=y + +# +# Build Setup +# +# CONFIG_EXPERIMENTAL is not set +CONFIG_HOST_LINUX=y +# CONFIG_HOST_OSX is not set +# CONFIG_HOST_WINDOWS is not set +# CONFIG_HOST_OTHER is not set + +# +# Build Configuration +# +CONFIG_APPS_DIR="../apps" +# CONFIG_BUILD_2PASS is not set + +# +# Binary Output Formats +# +# CONFIG_RRLOAD_BINARY is not set +# CONFIG_INTELHEX_BINARY is not set +# CONFIG_MOTOROLA_SREC is not set +CONFIG_RAW_BINARY=y + +# +# Customize Header Files +# +# CONFIG_ARCH_STDBOOL_H is not set +CONFIG_ARCH_MATH_H=y +# CONFIG_ARCH_FLOAT_H is not set +# CONFIG_ARCH_STDARG_H is not set + +# +# Debug Options +# +# CONFIG_DEBUG is not set +# CONFIG_DEBUG_SYMBOLS is not set + +# +# System Type +# +# CONFIG_ARCH_8051 is not set +CONFIG_ARCH_ARM=y +# CONFIG_ARCH_AVR is not set +# CONFIG_ARCH_HC is not set +# CONFIG_ARCH_MIPS is not set +# CONFIG_ARCH_RGMP is not set +# CONFIG_ARCH_SH is not set +# CONFIG_ARCH_SIM is not set +# CONFIG_ARCH_X86 is not set +# CONFIG_ARCH_Z16 is not set +# CONFIG_ARCH_Z80 is not set +CONFIG_ARCH="arm" + +# +# ARM Options +# +# CONFIG_ARCH_CHIP_C5471 is not set +# CONFIG_ARCH_CHIP_CALYPSO is not set +# CONFIG_ARCH_CHIP_DM320 is not set +# CONFIG_ARCH_CHIP_IMX is not set +# CONFIG_ARCH_CHIP_KINETIS is not set +# CONFIG_ARCH_CHIP_KL is not set +# CONFIG_ARCH_CHIP_LM is not set +# CONFIG_ARCH_CHIP_LPC17XX is not set +# CONFIG_ARCH_CHIP_LPC214X is not set +# CONFIG_ARCH_CHIP_LPC2378 is not set +# CONFIG_ARCH_CHIP_LPC31XX is not set +# CONFIG_ARCH_CHIP_LPC43XX is not set +# CONFIG_ARCH_CHIP_NUC1XX is not set +# CONFIG_ARCH_CHIP_SAM34 is not set +CONFIG_ARCH_CHIP_STM32=y +# CONFIG_ARCH_CHIP_STR71X is not set +CONFIG_ARCH_CORTEXM4=y +CONFIG_ARCH_FAMILY="armv7-m" +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARCH_HAVE_CMNVECTOR=y +CONFIG_ARMV7M_CMNVECTOR=y +CONFIG_ARCH_HAVE_FPU=y +CONFIG_ARCH_FPU=y +CONFIG_ARCH_HAVE_MPU=y +# CONFIG_ARMV7M_MPU is not set + +# +# ARMV7M Configuration Options +# +# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set +# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set +# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set +CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y +CONFIG_ARMV7M_STACKCHECK=y +CONFIG_SERIAL_TERMIOS=y + +# +# STM32 Configuration Options +# +# CONFIG_ARCH_CHIP_STM32L151C6 is not set +# CONFIG_ARCH_CHIP_STM32L151C8 is not set +# CONFIG_ARCH_CHIP_STM32L151CB is not set +# CONFIG_ARCH_CHIP_STM32L151R6 is not set +# CONFIG_ARCH_CHIP_STM32L151R8 is not set +# CONFIG_ARCH_CHIP_STM32L151RB is not set +# CONFIG_ARCH_CHIP_STM32L151V6 is not set +# CONFIG_ARCH_CHIP_STM32L151V8 is not set +# CONFIG_ARCH_CHIP_STM32L151VB is not set +# CONFIG_ARCH_CHIP_STM32L152C6 is not set +# CONFIG_ARCH_CHIP_STM32L152C8 is not set +# CONFIG_ARCH_CHIP_STM32L152CB is not set +# CONFIG_ARCH_CHIP_STM32L152R6 is not set +# CONFIG_ARCH_CHIP_STM32L152R8 is not set +# CONFIG_ARCH_CHIP_STM32L152RB is not set +# CONFIG_ARCH_CHIP_STM32L152V6 is not set +# CONFIG_ARCH_CHIP_STM32L152V8 is not set +# CONFIG_ARCH_CHIP_STM32L152VB is not set +# CONFIG_ARCH_CHIP_STM32F100C8 is not set +# CONFIG_ARCH_CHIP_STM32F100CB is not set +# CONFIG_ARCH_CHIP_STM32F100R8 is not set +# CONFIG_ARCH_CHIP_STM32F100RB is not set +# CONFIG_ARCH_CHIP_STM32F100RC is not set +# CONFIG_ARCH_CHIP_STM32F100RD is not set +# CONFIG_ARCH_CHIP_STM32F100RE is not set +# CONFIG_ARCH_CHIP_STM32F100V8 is not set +# CONFIG_ARCH_CHIP_STM32F100VB is not set +# CONFIG_ARCH_CHIP_STM32F100VC is not set +# CONFIG_ARCH_CHIP_STM32F100VD is not set +# CONFIG_ARCH_CHIP_STM32F100VE is not set +# CONFIG_ARCH_CHIP_STM32F103C4 is not set +# CONFIG_ARCH_CHIP_STM32F103C8 is not set +# CONFIG_ARCH_CHIP_STM32F103RET6 is not set +# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set +# CONFIG_ARCH_CHIP_STM32F103VET6 is not set +# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set +# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set +# CONFIG_ARCH_CHIP_STM32F107VC is not set +# CONFIG_ARCH_CHIP_STM32F207IG is not set +# CONFIG_ARCH_CHIP_STM32F302CB is not set +# CONFIG_ARCH_CHIP_STM32F302CC is not set +# CONFIG_ARCH_CHIP_STM32F302RB is not set +# CONFIG_ARCH_CHIP_STM32F302RC is not set +# CONFIG_ARCH_CHIP_STM32F302VB is not set +# CONFIG_ARCH_CHIP_STM32F302VC is not set +# CONFIG_ARCH_CHIP_STM32F303CB is not set +# CONFIG_ARCH_CHIP_STM32F303CC is not set +# CONFIG_ARCH_CHIP_STM32F303RB is not set +# CONFIG_ARCH_CHIP_STM32F303RC is not set +# CONFIG_ARCH_CHIP_STM32F303VB is not set +# CONFIG_ARCH_CHIP_STM32F303VC is not set +# CONFIG_ARCH_CHIP_STM32F405RG is not set +# CONFIG_ARCH_CHIP_STM32F405VG is not set +# CONFIG_ARCH_CHIP_STM32F405ZG is not set +# CONFIG_ARCH_CHIP_STM32F407VE is not set +# CONFIG_ARCH_CHIP_STM32F407VG is not set +# CONFIG_ARCH_CHIP_STM32F407ZE is not set +# CONFIG_ARCH_CHIP_STM32F407ZG is not set +# CONFIG_ARCH_CHIP_STM32F407IE is not set +# CONFIG_ARCH_CHIP_STM32F407IG is not set +CONFIG_ARCH_CHIP_STM32F427V=y +# CONFIG_ARCH_CHIP_STM32F427Z is not set +# CONFIG_ARCH_CHIP_STM32F427I is not set +# CONFIG_STM32_STM32L15XX is not set +# CONFIG_STM32_ENERGYLITE is not set +# CONFIG_STM32_STM32F10XX is not set +# CONFIG_STM32_VALUELINE is not set +# CONFIG_STM32_CONNECTIVITYLINE is not set +# CONFIG_STM32_PERFORMANCELINE is not set +# CONFIG_STM32_HIGHDENSITY is not set +# CONFIG_STM32_MEDIUMDENSITY is not set +# CONFIG_STM32_LOWDENSITY is not set +# CONFIG_STM32_STM32F20XX is not set +# CONFIG_STM32_STM32F30XX is not set +CONFIG_STM32_STM32F40XX=y +CONFIG_STM32_STM32F427=y +# CONFIG_STM32_DFU is not set + +# +# STM32 Peripheral Support +# +CONFIG_STM32_ADC1=y +# CONFIG_STM32_ADC2 is not set +# CONFIG_STM32_ADC3 is not set +CONFIG_STM32_BKPSRAM=y +# CONFIG_STM32_CAN1 is not set +# CONFIG_STM32_CAN2 is not set +CONFIG_STM32_CCMDATARAM=y +# CONFIG_STM32_CRC is not set +# CONFIG_STM32_CRYP is not set +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=y +# CONFIG_STM32_DAC1 is not set +# CONFIG_STM32_DAC2 is not set +# CONFIG_STM32_DCMI is not set +# CONFIG_STM32_ETHMAC is not set +# CONFIG_STM32_FSMC is not set +# CONFIG_STM32_HASH is not set +# CONFIG_STM32_I2C1 is not set +CONFIG_STM32_I2C2=y +# CONFIG_STM32_I2C3 is not set +# CONFIG_STM32_OTGFS is not set +# CONFIG_STM32_OTGHS is not set +CONFIG_STM32_PWR=y +# CONFIG_STM32_RNG is not set +# CONFIG_STM32_SDIO is not set +CONFIG_STM32_SPI1=y +CONFIG_STM32_SPI2=y +CONFIG_STM32_SPI3=y +CONFIG_STM32_SPI4=y +# CONFIG_STM32_SPI5 is not set +# CONFIG_STM32_SPI6 is not set +CONFIG_STM32_SYSCFG=y +CONFIG_STM32_TIM1=y +# CONFIG_STM32_TIM2 is not set +CONFIG_STM32_TIM3=y +CONFIG_STM32_TIM4=y +CONFIG_STM32_TIM5=y +# CONFIG_STM32_TIM6 is not set +# CONFIG_STM32_TIM7 is not set +# CONFIG_STM32_TIM8 is not set +CONFIG_STM32_TIM9=y +# CONFIG_STM32_TIM10 is not set +# CONFIG_STM32_TIM11 is not set +# CONFIG_STM32_TIM12 is not set +# CONFIG_STM32_TIM13 is not set +# CONFIG_STM32_TIM14 is not set +CONFIG_STM32_USART1=y +CONFIG_STM32_USART2=y +CONFIG_STM32_USART3=y +# CONFIG_STM32_UART4 is not set +# CONFIG_STM32_UART5 is not set +# CONFIG_STM32_USART6 is not set +CONFIG_STM32_UART7=y +CONFIG_STM32_UART8=y +# CONFIG_STM32_IWDG is not set +CONFIG_STM32_WWDG=y +CONFIG_STM32_ADC=y +CONFIG_STM32_SPI=y +CONFIG_STM32_I2C=y + +# +# Alternate Pin Mapping +# +CONFIG_STM32_FLASH_PREFETCH=y +# CONFIG_STM32_JTAG_DISABLE is not set +# CONFIG_STM32_JTAG_FULL_ENABLE is not set +# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y +# CONFIG_STM32_FORCEPOWER is not set +# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set +# CONFIG_STM32_CCMEXCLUDE is not set +CONFIG_STM32_DMACAPABLE=y +# CONFIG_STM32_TIM1_PWM is not set +# CONFIG_STM32_TIM3_PWM is not set +# CONFIG_STM32_TIM4_PWM is not set +# CONFIG_STM32_TIM5_PWM is not set +# CONFIG_STM32_TIM9_PWM is not set +# CONFIG_STM32_TIM1_ADC is not set +# CONFIG_STM32_TIM3_ADC is not set +# CONFIG_STM32_TIM4_ADC is not set +# CONFIG_STM32_TIM5_ADC is not set +CONFIG_STM32_USART=y + +# +# U[S]ART Configuration +# +# CONFIG_USART1_RS485 is not set +CONFIG_USART1_RXDMA=y +# CONFIG_USART2_RS485 is not set +CONFIG_USART2_RXDMA=y +# CONFIG_USART3_RS485 is not set +CONFIG_USART3_RXDMA=y +# CONFIG_UART7_RS485 is not set +CONFIG_UART7_RXDMA=y +# CONFIG_UART8_RS485 is not set +CONFIG_UART8_RXDMA=y +CONFIG_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32_USART_SINGLEWIRE=y + +# +# SPI Configuration +# +# CONFIG_STM32_SPI_INTERRUPTS is not set +# CONFIG_STM32_SPI_DMA is not set + +# +# I2C Configuration +# +# CONFIG_STM32_I2C_DYNTIMEO is not set +CONFIG_STM32_I2CTIMEOSEC=0 +CONFIG_STM32_I2CTIMEOMS=10 +CONFIG_STM32_I2CTIMEOTICKS=500 +# CONFIG_STM32_I2C_DUTY16_9 is not set + +# +# USB Host Configuration +# + +# +# USB Device Configuration +# + +# +# External Memory Configuration +# + +# +# Architecture Options +# +# CONFIG_ARCH_NOINTC is not set +# CONFIG_ARCH_VECNOTIRQ is not set +CONFIG_ARCH_DMA=y +CONFIG_ARCH_IRQPRIO=y +# CONFIG_CUSTOM_STACK is not set +# CONFIG_ADDRENV is not set +CONFIG_ARCH_HAVE_VFORK=y +CONFIG_ARCH_STACKDUMP=y +# CONFIG_ENDIAN_BIG is not set +# CONFIG_ARCH_HAVE_RAMFUNCS is not set +CONFIG_ARCH_HAVE_RAMVECTORS=y +# CONFIG_ARCH_RAMVECTORS is not set + +# +# Board Settings +# +CONFIG_BOARD_LOOPSPERMSEC=16717 +# CONFIG_ARCH_CALIBRATION is not set +CONFIG_DRAM_START=0x20000000 +CONFIG_DRAM_SIZE=262144 +CONFIG_ARCH_HAVE_INTERRUPTSTACK=y +CONFIG_ARCH_INTERRUPTSTACK=4096 + +# +# Boot options +# +# CONFIG_BOOT_RUNFROMEXTSRAM is not set +CONFIG_BOOT_RUNFROMFLASH=y +# CONFIG_BOOT_RUNFROMISRAM is not set +# CONFIG_BOOT_RUNFROMSDRAM is not set +# CONFIG_BOOT_COPYTORAM is not set + +# +# Board Selection +# +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD="" + +# +# Common Board Options +# +CONFIG_NSH_MMCSDMINOR=0 + +# +# Board-Specific Options +# + +# +# RTOS Features +# +# CONFIG_BOARD_INITIALIZE is not set +CONFIG_MSEC_PER_TICK=1 +CONFIG_RR_INTERVAL=0 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_TASK_NAME_SIZE=24 +# CONFIG_SCHED_HAVE_PARENT is not set +# CONFIG_JULIAN_TIME is not set +CONFIG_START_YEAR=1970 +CONFIG_START_MONTH=1 +CONFIG_START_DAY=1 +CONFIG_DEV_CONSOLE=y +# CONFIG_MUTEX_TYPES is not set +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_SEM_PREALLOCHOLDERS=0 +CONFIG_SEM_NNESTPRIO=8 +# CONFIG_FDCLONE_DISABLE is not set +CONFIG_FDCLONE_STDIO=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SCHED_WAITPID=y +# CONFIG_SCHED_STARTHOOK is not set +CONFIG_SCHED_ATEXIT=y +CONFIG_SCHED_ATEXIT_MAX=1 +# CONFIG_SCHED_ONEXIT is not set +CONFIG_USER_ENTRYPOINT="nsh_main" +# CONFIG_DISABLE_OS_API is not set + +# +# Signal Numbers +# +CONFIG_SIG_SIGUSR1=1 +CONFIG_SIG_SIGUSR2=2 +CONFIG_SIG_SIGALARM=3 +CONFIG_SIG_SIGCONDTIMEDOUT=16 +CONFIG_SIG_SIGWORK=4 + +# +# Sizes of configurable things (0 disables) +# +CONFIG_MAX_TASKS=32 +CONFIG_MAX_TASK_ARGS=10 +CONFIG_NPTHREAD_KEYS=4 +CONFIG_NFILE_DESCRIPTORS=36 +CONFIG_NFILE_STREAMS=8 +CONFIG_NAME_MAX=32 +CONFIG_PREALLOC_MQ_MSGS=4 +CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=2 +CONFIG_PREALLOC_WDOGS=50 +CONFIG_PREALLOC_TIMERS=50 + +# +# Stack and heap information +# +CONFIG_IDLETHREAD_STACKSIZE=6000 +CONFIG_USERMAIN_STACKSIZE=4096 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_PTHREAD_STACK_DEFAULT=2048 + +# +# Device Drivers +# +# CONFIG_DISABLE_POLL is not set +CONFIG_DEV_NULL=y +# CONFIG_DEV_ZERO is not set +# CONFIG_LOOP is not set +# CONFIG_RAMDISK is not set +# CONFIG_CAN is not set +# CONFIG_PWM is not set +CONFIG_I2C=y +# CONFIG_I2C_SLAVE is not set +CONFIG_I2C_TRANSFER=y +# CONFIG_I2C_WRITEREAD is not set +# CONFIG_I2C_POLLED is not set +# CONFIG_I2C_TRACE is not set +CONFIG_ARCH_HAVE_I2CRESET=y +CONFIG_I2C_RESET=y +CONFIG_SPI=y +# CONFIG_SPI_OWNBUS is not set +CONFIG_SPI_EXCHANGE=y +# CONFIG_SPI_CMDDATA is not set +# CONFIG_RTC is not set +CONFIG_WATCHDOG=y +# CONFIG_ANALOG is not set +# CONFIG_AUDIO_DEVICES is not set +# CONFIG_BCH is not set +# CONFIG_INPUT is not set +# CONFIG_LCD is not set +# CONFIG_MMCSD is not set +CONFIG_MTD=y + +# +# MTD Configuration +# +CONFIG_MTD_PARTITION=y +CONFIG_MTD_BYTE_WRITE=y + +# +# MTD Device Drivers +# +# CONFIG_RAMMTD is not set +# CONFIG_MTD_AT24XX is not set +# CONFIG_MTD_AT45DB is not set +# CONFIG_MTD_M25P is not set +# CONFIG_MTD_SMART is not set +CONFIG_MTD_RAMTRON=y +CONFIG_RAMTRON_FUJITSU=y +# CONFIG_MTD_SST25 is not set +# CONFIG_MTD_SST39FV is not set +# CONFIG_MTD_W25 is not set +CONFIG_PIPES=y +# CONFIG_PM is not set +# CONFIG_POWER is not set +# CONFIG_SENSORS is not set +CONFIG_SERIAL=y +# CONFIG_DEV_LOWCONSOLE is not set +# CONFIG_16550_UART is not set +CONFIG_ARCH_HAVE_UART7=y +CONFIG_ARCH_HAVE_UART8=y +CONFIG_ARCH_HAVE_USART1=y +CONFIG_ARCH_HAVE_USART2=y +CONFIG_ARCH_HAVE_USART3=y +CONFIG_MCU_SERIAL=y +CONFIG_STANDARD_SERIAL=y +CONFIG_SERIAL_NPOLLWAITERS=2 +# CONFIG_USART1_SERIAL_CONSOLE is not set +# CONFIG_USART2_SERIAL_CONSOLE is not set +# CONFIG_USART3_SERIAL_CONSOLE is not set +# CONFIG_UART7_SERIAL_CONSOLE is not set +CONFIG_UART8_SERIAL_CONSOLE=y +# CONFIG_NO_SERIAL_CONSOLE is not set + +# +# USART1 Configuration +# +CONFIG_USART1_RXBUFSIZE=512 +CONFIG_USART1_TXBUFSIZE=512 +CONFIG_USART1_BAUD=115200 +CONFIG_USART1_BITS=8 +CONFIG_USART1_PARITY=0 +CONFIG_USART1_2STOP=0 +# CONFIG_USART1_IFLOWCONTROL is not set +# CONFIG_USART1_OFLOWCONTROL is not set + +# +# USART2 Configuration +# +CONFIG_USART2_RXBUFSIZE=512 +CONFIG_USART2_TXBUFSIZE=512 +CONFIG_USART2_BAUD=115200 +CONFIG_USART2_BITS=8 +CONFIG_USART2_PARITY=0 +CONFIG_USART2_2STOP=0 +# CONFIG_USART2_IFLOWCONTROL is not set +# CONFIG_USART2_OFLOWCONTROL is not set + +# +# USART3 Configuration +# +CONFIG_USART3_RXBUFSIZE=512 +CONFIG_USART3_TXBUFSIZE=512 +CONFIG_USART3_BAUD=115200 +CONFIG_USART3_BITS=8 +CONFIG_USART3_PARITY=0 +CONFIG_USART3_2STOP=0 +# CONFIG_USART3_IFLOWCONTROL is not set +# CONFIG_USART3_OFLOWCONTROL is not set + +# +# UART7 Configuration +# +CONFIG_UART7_RXBUFSIZE=512 +CONFIG_UART7_TXBUFSIZE=512 +CONFIG_UART7_BAUD=115200 +CONFIG_UART7_BITS=8 +CONFIG_UART7_PARITY=0 +CONFIG_UART7_2STOP=0 +# CONFIG_UART7_IFLOWCONTROL is not set +# CONFIG_UART7_OFLOWCONTROL is not set + +# +# UART8 Configuration +# +CONFIG_UART8_RXBUFSIZE=512 +CONFIG_UART8_TXBUFSIZE=512 +CONFIG_UART8_BAUD=115200 +CONFIG_UART8_BITS=8 +CONFIG_UART8_PARITY=0 +CONFIG_UART8_2STOP=0 +# CONFIG_UART8_IFLOWCONTROL is not set +# CONFIG_UART8_OFLOWCONTROL is not set +# CONFIG_SERIAL_IFLOWCONTROL is not set +# CONFIG_SERIAL_OFLOWCONTROL is not set +# CONFIG_USBDEV is not set +# CONFIG_USBHOST is not set +# CONFIG_WIRELESS is not set + +# +# System Logging Device Options +# + +# +# System Logging +# +# CONFIG_RAMLOG is not set + +# +# Networking Support +# +# CONFIG_NET is not set + +# +# File Systems +# + +# +# File system configuration +# +# CONFIG_DISABLE_MOUNTPOINT is not set +# CONFIG_FS_RAMMAP is not set +CONFIG_FS_FAT=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_MAXFNAME=32 +CONFIG_FS_FATTIME=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FS_NXFFS=y +CONFIG_NXFFS_PREALLOCATED=y +CONFIG_NXFFS_ERASEDSTATE=0xff +CONFIG_NXFFS_PACKTHRESHOLD=32 +CONFIG_NXFFS_MAXNAMLEN=32 +CONFIG_NXFFS_TAILTHRESHOLD=2048 +CONFIG_FS_ROMFS=y +# CONFIG_FS_SMARTFS is not set +CONFIG_FS_BINFS=y + +# +# System Logging +# +# CONFIG_SYSLOG_ENABLE is not set +# CONFIG_SYSLOG is not set + +# +# Graphics Support +# +# CONFIG_NX is not set + +# +# Memory Management +# +# CONFIG_MM_MULTIHEAP is not set +# CONFIG_MM_SMALL is not set +CONFIG_MM_REGIONS=2 +CONFIG_GRAN=y +# CONFIG_GRAN_SINGLE is not set +# CONFIG_GRAN_INTR is not set + +# +# Audio Support +# +# CONFIG_AUDIO is not set + +# +# Binary Formats +# +# CONFIG_BINFMT_DISABLE is not set +# CONFIG_BINFMT_EXEPATH is not set +# CONFIG_NXFLAT is not set +# CONFIG_ELF is not set +CONFIG_BUILTIN=y +# CONFIG_PIC is not set +# CONFIG_SYMTAB_ORDEREDBYNAME is not set + +# +# Library Routines +# + +# +# Standard C Library Options +# +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STDIO_LINEBUFFER=y +CONFIG_NUNGET_CHARS=2 +CONFIG_LIB_HOMEDIR="/" +# CONFIG_NOPRINTF_FIELDWIDTH is not set +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIB_RAND_ORDER=1 +# CONFIG_EOL_IS_CR is not set +# CONFIG_EOL_IS_LF is not set +# CONFIG_EOL_IS_BOTH_CRLF is not set +CONFIG_EOL_IS_EITHER_CRLF=y +# CONFIG_LIBC_EXECFUNCS is not set +CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024 +CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048 +CONFIG_LIBC_STRERROR=y +# CONFIG_LIBC_STRERROR_SHORT is not set +# CONFIG_LIBC_PERROR_STDOUT is not set +CONFIG_ARCH_LOWPUTC=y +CONFIG_LIB_SENDFILE_BUFSIZE=512 +# CONFIG_ARCH_ROMGETC is not set +CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y +CONFIG_ARCH_MEMCPY=y +# CONFIG_ARCH_MEMCMP is not set +# CONFIG_ARCH_MEMMOVE is not set +# CONFIG_ARCH_MEMSET is not set +# CONFIG_MEMSET_OPTSPEED is not set +# CONFIG_ARCH_STRCHR is not set +# CONFIG_ARCH_STRCMP is not set +# CONFIG_ARCH_STRCPY is not set +# CONFIG_ARCH_STRNCPY is not set +# CONFIG_ARCH_STRLEN is not set +# CONFIG_ARCH_STRNLEN is not set +# CONFIG_ARCH_BZERO is not set + +# +# Non-standard Library Support +# +CONFIG_SCHED_WORKQUEUE=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_WORKPRIORITY=192 +CONFIG_SCHED_WORKPERIOD=5000 +CONFIG_SCHED_WORKSTACKSIZE=2000 +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKPERIOD=50000 +CONFIG_SCHED_LPWORKSTACKSIZE=2000 +# CONFIG_LIB_KBDCODEC is not set +# CONFIG_LIB_SLCDCODEC is not set + +# +# Basic CXX Support +# +CONFIG_C99_BOOL8=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +# CONFIG_CXX_NEWLONG is not set + +# +# uClibc++ Standard C++ Library +# +# CONFIG_UCLIBCXX is not set + +# +# Application Configuration +# + +# +# Built-In Applications +# +CONFIG_BUILTIN_PROXY_STACKSIZE=1024 + +# +# Examples +# +# CONFIG_EXAMPLES_BUTTONS is not set +# CONFIG_EXAMPLES_CAN is not set +# CONFIG_EXAMPLES_COMPOSITE is not set +# CONFIG_EXAMPLES_CXXTEST is not set +# CONFIG_EXAMPLES_DHCPD is not set +# CONFIG_EXAMPLES_ELF is not set +# CONFIG_EXAMPLES_FTPC is not set +# CONFIG_EXAMPLES_FTPD is not set +CONFIG_EXAMPLES_HELLO=y +# CONFIG_EXAMPLES_HELLOXX is not set +# CONFIG_EXAMPLES_JSON is not set +# CONFIG_EXAMPLES_HIDKBD is not set +# CONFIG_EXAMPLES_KEYPADTEST is not set +# CONFIG_EXAMPLES_IGMP is not set +# CONFIG_EXAMPLES_LCDRW is not set +# CONFIG_EXAMPLES_MM is not set +# CONFIG_EXAMPLES_MODBUS is not set +CONFIG_EXAMPLES_MOUNT=y +# CONFIG_EXAMPLES_MTDPART is not set +# CONFIG_EXAMPLES_NRF24L01TERM is not set +CONFIG_EXAMPLES_NSH=y +# CONFIG_EXAMPLES_NULL is not set +# CONFIG_EXAMPLES_NX is not set +# CONFIG_EXAMPLES_NXCONSOLE is not set +# CONFIG_EXAMPLES_NXFFS is not set +# CONFIG_EXAMPLES_NXFLAT is not set +# CONFIG_EXAMPLES_NXHELLO is not set +# CONFIG_EXAMPLES_NXIMAGE is not set +# CONFIG_EXAMPLES_NXLINES is not set +# CONFIG_EXAMPLES_NXTEXT is not set +# CONFIG_EXAMPLES_OSTEST is not set +# CONFIG_EXAMPLES_PASHELLO is not set +# CONFIG_EXAMPLES_PIPE is not set +# CONFIG_EXAMPLES_POSIXSPAWN is not set +# CONFIG_EXAMPLES_QENCODER is not set +# CONFIG_EXAMPLES_RGMP is not set +# CONFIG_EXAMPLES_ROMFS is not set +# CONFIG_EXAMPLES_SENDMAIL is not set +# CONFIG_EXAMPLES_SERLOOP is not set +# CONFIG_EXAMPLES_SLCD is not set +# CONFIG_EXAMPLES_SMART_TEST is not set +# CONFIG_EXAMPLES_SMART is not set +# CONFIG_EXAMPLES_TCPECHO is not set +# CONFIG_EXAMPLES_TELNETD is not set +# CONFIG_EXAMPLES_THTTPD is not set +# CONFIG_EXAMPLES_TIFF is not set +# CONFIG_EXAMPLES_TOUCHSCREEN is not set +# CONFIG_EXAMPLES_UDP is not set +# CONFIG_EXAMPLES_UIP is not set +# CONFIG_EXAMPLES_USBSERIAL is not set +# CONFIG_EXAMPLES_USBMSC is not set +# CONFIG_EXAMPLES_USBTERM is not set +# CONFIG_EXAMPLES_WATCHDOG is not set + +# +# Graphics Support +# +# CONFIG_TIFF is not set + +# +# Interpreters +# +# CONFIG_INTERPRETERS_FICL is not set +# CONFIG_INTERPRETERS_PCODE is not set + +# +# Network Utilities +# + +# +# Networking Utilities +# +# CONFIG_NETUTILS_CODECS is not set +# CONFIG_NETUTILS_DHCPC is not set +# CONFIG_NETUTILS_DHCPD is not set +# CONFIG_NETUTILS_FTPC is not set +# CONFIG_NETUTILS_FTPD is not set +# CONFIG_NETUTILS_JSON is not set +# CONFIG_NETUTILS_RESOLV is not set +# CONFIG_NETUTILS_SMTP is not set +# CONFIG_NETUTILS_TELNETD is not set +# CONFIG_NETUTILS_TFTPC is not set +# CONFIG_NETUTILS_THTTPD is not set +# CONFIG_NETUTILS_UIPLIB is not set +# CONFIG_NETUTILS_WEBCLIENT is not set + +# +# FreeModBus +# +# CONFIG_MODBUS is not set + +# +# NSH Library +# +CONFIG_NSH_LIBRARY=y +CONFIG_NSH_BUILTIN_APPS=y + +# +# Disable Individual commands +# +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DD is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_HEXDUMP is not set +# CONFIG_NSH_DISABLE_IFCONFIG is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOSETUP is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MB is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MKFIFO is not set +# CONFIG_NSH_DISABLE_MKRD is not set +# CONFIG_NSH_DISABLE_MH is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MW is not set +# CONFIG_NSH_DISABLE_NSFMOUNT is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PING is not set +# CONFIG_NSH_DISABLE_PUT is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SH is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +# CONFIG_NSH_DISABLE_WGET is not set +# CONFIG_NSH_DISABLE_XD is not set + +# +# Configure Command Options +# +# CONFIG_NSH_CMDOPT_DF_H is not set +CONFIG_NSH_CODECS_BUFSIZE=128 +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=12 +CONFIG_NSH_NESTDEPTH=8 +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLEBG is not set +CONFIG_NSH_ROMFSETC=y +# CONFIG_NSH_ROMFSRC is not set +CONFIG_NSH_ROMFSMOUNTPT="/etc" +CONFIG_NSH_INITSCRIPT="init.d/rcS" +CONFIG_NSH_ROMFSDEVNO=0 +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_ARCHROMFS=y +CONFIG_NSH_FATDEVNO=1 +CONFIG_NSH_FATSECTSIZE=512 +CONFIG_NSH_FATNSECTORS=1024 +CONFIG_NSH_FATMOUNTPT="/tmp" +CONFIG_NSH_CONSOLE=y + +# +# USB Trace Support +# +# CONFIG_NSH_CONDEV is not set +CONFIG_NSH_ARCHINIT=y + +# +# NxWidgets/NxWM +# + +# +# System NSH Add-Ons +# + +# +# Custom Free Memory Command +# +# CONFIG_SYSTEM_FREE is not set + +# +# I2C tool +# +CONFIG_SYSTEM_I2CTOOL=y +CONFIG_I2CTOOL_MINBUS=0 +CONFIG_I2CTOOL_MAXBUS=3 +CONFIG_I2CTOOL_MINADDR=0x03 +CONFIG_I2CTOOL_MAXADDR=0x77 +CONFIG_I2CTOOL_MAXREGADDR=0xff +CONFIG_I2CTOOL_DEFFREQ=4000000 + +# +# FLASH Program Installation +# +# CONFIG_SYSTEM_INSTALL is not set + +# +# FLASH Erase-all Command +# +# CONFIG_SYSTEM_FLASH_ERASEALL is not set + +# +# readline() +# +CONFIG_SYSTEM_READLINE=y +CONFIG_READLINE_ECHO=y + +# +# Power Off +# +# CONFIG_SYSTEM_POWEROFF is not set + +# +# RAMTRON +# +# CONFIG_SYSTEM_RAMTRON is not set + +# +# SD Card +# +# CONFIG_SYSTEM_SDCARD is not set + +# +# Sysinfo +# +CONFIG_SYSTEM_SYSINFO=y + +# +# USB Monitor +# diff --git a/src/modules/position_estimator/module.mk b/nuttx-configs/aerocore/nsh/setenv.sh old mode 100644 new mode 100755 similarity index 51% rename from src/modules/position_estimator/module.mk rename to nuttx-configs/aerocore/nsh/setenv.sh index f64095d9d1..2327f38a1b --- a/src/modules/position_estimator/module.mk +++ b/nuttx-configs/aerocore/nsh/setenv.sh @@ -1,6 +1,8 @@ -############################################################################ +#!/bin/bash +# configs/aerocore/nsh/setenv.sh # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -12,7 +14,7 @@ # 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 +# 3. Neither the name NuttX nor the names of its contributors may be # used to endorse or promote products derived from this software # without specific prior written permission. # @@ -29,16 +31,37 @@ # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # -############################################################################ -# -# Makefile to build the position estimator -# +if [ "$_" = "$0" ] ; then + echo "You must source this script, not run it!" 1>&2 + exit 1 +fi -MODULE_COMMAND = position_estimator +WD=`pwd` +if [ ! -x "setenv.sh" ]; then + echo "This script must be executed from the top-level NuttX build directory" + exit 1 +fi -# XXX this should be converted to a deamon, its a pretty bad example app -MODULE_PRIORITY = SCHED_PRIORITY_DEFAULT -MODULE_STACKSIZE = 4096 +if [ -z "${PATH_ORIG}" ]; then + export PATH_ORIG="${PATH}" +fi -SRCS = position_estimator_main.c +# This the Cygwin path to the location where I installed the RIDE +# toolchain under windows. You will also have to edit this if you install +# the RIDE toolchain in any other location +#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin" + +# This the Cygwin path to the location where I installed the CodeSourcery +# toolchain under windows. You will also have to edit this if you install +# the CodeSourcery toolchain in any other location +export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin" + +# This the Cygwin path to the location where I build the buildroot +# toolchain. +#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin" + +# Add the path to the toolchain to the PATH varialble +export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}" + +echo "PATH : ${PATH}" diff --git a/nuttx-configs/aerocore/scripts/ld.script b/nuttx-configs/aerocore/scripts/ld.script new file mode 100644 index 0000000000..968d3127ff --- /dev/null +++ b/nuttx-configs/aerocore/scripts/ld.script @@ -0,0 +1,150 @@ +/**************************************************************************** + * configs/aerocore/common/ld.script + * + * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 NuttX 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. + * + ****************************************************************************/ + +/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and + * 256Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of SRAM beginning at address 0x2002:0000 + * 4) 64Kb of TCM SRAM beginning at address 0x1000:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The first 0x4000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K + ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K +} + +OUTPUT_ARCH(arm) + +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + /* + * This is a hack to make the newlib libm __errno() call + * use the NuttX get_errno_ptr() function. + */ + __errno = get_errno_ptr; + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + /* + * Construction data for parameters. + */ + __param ALIGN(4): { + __param_start = ABSOLUTE(.); + KEEP(*(__param*)) + __param_end = ABSOLUTE(.); + } > flash + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/Tools/px4params/px_process_params.py b/nuttx-configs/aerocore/src/Makefile old mode 100755 new mode 100644 similarity index 57% rename from Tools/px4params/px_process_params.py rename to nuttx-configs/aerocore/src/Makefile index 7799f63484..859ba4ab23 --- a/Tools/px4params/px_process_params.py +++ b/nuttx-configs/aerocore/src/Makefile @@ -1,7 +1,8 @@ -#!/usr/bin/env python ############################################################################ +# configs/aerocore/src/Makefile # -# Copyright (C) 2013 PX4 Development Team. All rights reserved. +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -13,7 +14,7 @@ # 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 +# 3. Neither the name NuttX nor the names of its contributors may be # used to endorse or promote products derived from this software # without specific prior written permission. # @@ -32,36 +33,52 @@ # ############################################################################ -# -# PX4 paramers processor (main executable file) -# -# It scans src/ subdirectory of the project, collects all parameters -# definitions, and outputs list of parameters in XML and DokuWiki formats. -# +-include $(TOPDIR)/Make.defs -import scanner -import srcparser -import output_xml -import output_dokuwiki_tables -import output_dokuwiki_listings +CFLAGS += -I$(TOPDIR)/sched -# Initialize parser -prs = srcparser.Parser() +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) -# Scan directories, and parse the files -sc = scanner.Scanner() -sc.ScanDir("../../src", prs) -groups = prs.GetParamGroups() +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) -# Output into XML -out = output_xml.XMLOutput(groups) -out.Save("parameters.xml") +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) -# Output to DokuWiki listings -#out = output_dokuwiki_listings.DokuWikiListingsOutput(groups) -#out.Save("parameters.wiki") +ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +ifeq ($(WINTOOL),y) + CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}" +else + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m +endif + +all: libboard$(LIBEXT) + +$(AOBJS): %$(OBJEXT): %.S + $(call ASSEMBLE, $<, $@) + +$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +libboard$(LIBEXT): $(OBJS) + $(call ARCHIVE, $@, $(OBJS)) + +.depend: Makefile $(SRCS) + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ + +depend: .depend + +clean: + $(call DELFILE, libboard$(LIBEXT)) + $(call CLEAN) + +distclean: clean + $(call DELFILE, Make.dep) + $(call DELFILE, .depend) + +-include Make.dep -# Output to DokuWiki tables -out = output_dokuwiki_tables.DokuWikiTablesOutput(groups) -out.Save("parameters.wiki") -out.SaveRpc("parameters.wikirpc.xml") diff --git a/nuttx-configs/aerocore/src/empty.c b/nuttx-configs/aerocore/src/empty.c new file mode 100644 index 0000000000..ace900866c --- /dev/null +++ b/nuttx-configs/aerocore/src/empty.c @@ -0,0 +1,4 @@ +/* + * There are no source files here, but libboard.a can't be empty, so + * we have this empty source file to keep it company. + */ diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig index 1dc96b3c3f..bc0c120679 100644 --- a/nuttx-configs/px4fmu-v1/nsh/defconfig +++ b/nuttx-configs/px4fmu-v1/nsh/defconfig @@ -405,7 +405,7 @@ CONFIG_SIG_SIGWORK=4 CONFIG_MAX_TASKS=32 CONFIG_MAX_TASK_ARGS=10 CONFIG_NPTHREAD_KEYS=4 -CONFIG_NFILE_DESCRIPTORS=32 +CONFIG_NFILE_DESCRIPTORS=38 CONFIG_NFILE_STREAMS=8 CONFIG_NAME_MAX=32 CONFIG_PREALLOC_MQ_MSGS=4 @@ -417,8 +417,8 @@ CONFIG_PREALLOC_TIMERS=50 # # Stack and heap information # -CONFIG_IDLETHREAD_STACKSIZE=6000 -CONFIG_USERMAIN_STACKSIZE=4096 +CONFIG_IDLETHREAD_STACKSIZE=4096 +CONFIG_USERMAIN_STACKSIZE=3500 CONFIG_PTHREAD_STACK_MIN=512 CONFIG_PTHREAD_STACK_DEFAULT=2048 @@ -504,8 +504,8 @@ CONFIG_MTD_BYTE_WRITE=y # # USART1 Configuration # -CONFIG_USART1_RXBUFSIZE=512 -CONFIG_USART1_TXBUFSIZE=512 +CONFIG_USART1_RXBUFSIZE=256 +CONFIG_USART1_TXBUFSIZE=128 CONFIG_USART1_BAUD=57600 CONFIG_USART1_BITS=8 CONFIG_USART1_PARITY=0 @@ -528,8 +528,8 @@ CONFIG_USART2_OFLOWCONTROL=y # # UART5 Configuration # -CONFIG_UART5_RXBUFSIZE=512 -CONFIG_UART5_TXBUFSIZE=512 +CONFIG_UART5_RXBUFSIZE=256 +CONFIG_UART5_TXBUFSIZE=128 CONFIG_UART5_BAUD=57600 CONFIG_UART5_BITS=8 CONFIG_UART5_PARITY=0 @@ -540,8 +540,8 @@ CONFIG_UART5_2STOP=0 # # USART6 Configuration # -CONFIG_USART6_RXBUFSIZE=512 -CONFIG_USART6_TXBUFSIZE=512 +CONFIG_USART6_RXBUFSIZE=128 +CONFIG_USART6_TXBUFSIZE=64 CONFIG_USART6_BAUD=57600 CONFIG_USART6_BITS=8 CONFIG_USART6_PARITY=0 @@ -720,11 +720,11 @@ CONFIG_SCHED_WORKQUEUE=y CONFIG_SCHED_HPWORK=y CONFIG_SCHED_WORKPRIORITY=192 CONFIG_SCHED_WORKPERIOD=5000 -CONFIG_SCHED_WORKSTACKSIZE=4000 +CONFIG_SCHED_WORKSTACKSIZE=2048 CONFIG_SCHED_LPWORK=y CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKPERIOD=50000 -CONFIG_SCHED_LPWORKSTACKSIZE=4000 +CONFIG_SCHED_LPWORKSTACKSIZE=2048 # CONFIG_LIB_KBDCODEC is not set # CONFIG_LIB_SLCDCODEC is not set diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig index 26222c255d..a982040c6d 100644 --- a/nuttx-configs/px4fmu-v2/nsh/defconfig +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -439,7 +439,7 @@ CONFIG_SIG_SIGWORK=4 CONFIG_MAX_TASKS=32 CONFIG_MAX_TASK_ARGS=10 CONFIG_NPTHREAD_KEYS=4 -CONFIG_NFILE_DESCRIPTORS=32 +CONFIG_NFILE_DESCRIPTORS=38 CONFIG_NFILE_STREAMS=8 CONFIG_NAME_MAX=32 CONFIG_PREALLOC_MQ_MSGS=4 @@ -796,11 +796,11 @@ CONFIG_SCHED_WORKQUEUE=y CONFIG_SCHED_HPWORK=y CONFIG_SCHED_WORKPRIORITY=192 CONFIG_SCHED_WORKPERIOD=5000 -CONFIG_SCHED_WORKSTACKSIZE=4000 +CONFIG_SCHED_WORKSTACKSIZE=2000 CONFIG_SCHED_LPWORK=y CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKPERIOD=50000 -CONFIG_SCHED_LPWORKSTACKSIZE=4000 +CONFIG_SCHED_LPWORKSTACKSIZE=2000 # CONFIG_LIB_KBDCODEC is not set # CONFIG_LIB_SLCDCODEC is not set diff --git a/nuttx-configs/px4io-v2/include/board.h b/nuttx-configs/px4io-v2/include/board.h index 4b9c906385..17e77918b4 100755 --- a/nuttx-configs/px4io-v2/include/board.h +++ b/nuttx-configs/px4io-v2/include/board.h @@ -103,8 +103,6 @@ #define GPIO_USART2_RTS 0xffffffff #undef GPIO_USART2_CK #define GPIO_USART2_CK 0xffffffff -#undef GPIO_USART3_TX -#define GPIO_USART3_TX 0xffffffff #undef GPIO_USART3_CK #define GPIO_USART3_CK 0xffffffff #undef GPIO_USART3_CTS diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig index 4111e70eba..e6563e5878 100755 --- a/nuttx-configs/px4io-v2/nsh/defconfig +++ b/nuttx-configs/px4io-v2/nsh/defconfig @@ -104,9 +104,9 @@ CONFIG_ARMV7M_CMNVECTOR=y # CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled # CONFIG_STM32_DFU=n -CONFIG_STM32_JTAG_FULL_ENABLE=y +CONFIG_STM32_JTAG_FULL_ENABLE=n CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n -CONFIG_STM32_JTAG_SW_ENABLE=n +CONFIG_STM32_JTAG_SW_ENABLE=y # # Individual subsystems can be enabled: diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index 524151c90d..41942aacd5 100644 --- a/src/drivers/airspeed/airspeed.cpp +++ b/src/drivers/airspeed/airspeed.cpp @@ -82,10 +82,12 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha _buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")), _max_differential_pressure_pa(0), _sensor_ok(false), + _last_published_sensor_ok(true), /* initialize differently to force publication */ _measure_ticks(0), _collect_phase(false), _diff_pres_offset(0.0f), _airspeed_pub(-1), + _subsys_pub(-1), _class_instance(-1), _conversion_interval(conversion_interval), _sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")), @@ -149,8 +151,7 @@ Airspeed::init() } ret = OK; - /* sensor is ok, but we don't really know if it is within range */ - _sensor_ok = true; + out: return ret; } @@ -344,22 +345,6 @@ Airspeed::start() /* schedule a cycle to start things */ work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1); - - /* notify about state change */ - struct subsystem_info_s info = { - true, - true, - true, - SUBSYSTEM_TYPE_DIFFPRESSURE - }; - static orb_advert_t pub = -1; - - if (pub > 0) { - orb_publish(ORB_ID(subsystem_info), pub, &info); - - } else { - pub = orb_advertise(ORB_ID(subsystem_info), &info); - } } void @@ -368,12 +353,35 @@ Airspeed::stop() work_cancel(HPWORK, &_work); } +void +Airspeed::update_status() +{ + if (_sensor_ok != _last_published_sensor_ok) { + /* notify about state change */ + struct subsystem_info_s info = { + true, + true, + _sensor_ok, + SUBSYSTEM_TYPE_DIFFPRESSURE + }; + + if (_subsys_pub > 0) { + orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info); + } else { + _subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info); + } + + _last_published_sensor_ok = _sensor_ok; + } +} + void Airspeed::cycle_trampoline(void *arg) { Airspeed *dev = (Airspeed *)arg; dev->cycle(); + dev->update_status(); } void diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h index 186602eda8..0b8e949c9d 100644 --- a/src/drivers/airspeed/airspeed.h +++ b/src/drivers/airspeed/airspeed.h @@ -118,14 +118,21 @@ protected: virtual int measure() = 0; virtual int collect() = 0; + /** + * Update the subsystem status + */ + void update_status(); + work_s _work; float _max_differential_pressure_pa; bool _sensor_ok; + bool _last_published_sensor_ok; int _measure_ticks; bool _collect_phase; float _diff_pres_offset; orb_advert_t _airspeed_pub; + orb_advert_t _subsys_pub; int _class_instance; diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index 2361f4dd18..5c502f6822 100644 --- a/src/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp @@ -48,11 +48,14 @@ * The recognized number off cells, will be blinked 5 times in purple color. * 2 Cells = 2 blinks * ... - * 5 Cells = 5 blinks + * 6 Cells = 6 blinks * Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts. * - * System disarmed: - * The BlinkM should lit solid red. + * System disarmed and safe: + * The BlinkM should light solid cyan. + * + * System safety off but not armed: + * The BlinkM should light flashing orange * * System armed: * One message is made of 4 Blinks and a pause in the same length as the 4 blinks. @@ -67,10 +70,10 @@ * (X = on, _=off) * * The first 3 blinks indicates the status of the GPS-Signal (red): - * 0-4 satellites = X-X-X-X-_-_-_-_-_-_- - * 5 satellites = X-X-_-X-_-_-_-_-_-_- - * 6 satellites = X-_-_-X-_-_-_-_-_-_- - * >=7 satellites = _-_-_-X-_-_-_-_-_-_- + * 0-4 satellites = X-X-X-X-X-_-_-_-_-_- + * 5 satellites = X-X-_-X-X-_-_-_-_-_- + * 6 satellites = X-_-_-X-X-_-_-_-_-_- + * >=7 satellites = _-_-_-X-X-_-_-_-_-_- * If no GPS is found the first 3 blinks are white * * The fourth Blink indicates the Flightmode: @@ -119,6 +122,7 @@ #include #include #include +#include static const float MAX_CELL_VOLTAGE = 4.3f; static const int LED_ONTIME = 120; @@ -166,10 +170,12 @@ private: enum ledColors { LED_OFF, LED_RED, + LED_ORANGE, LED_YELLOW, LED_PURPLE, LED_GREEN, LED_BLUE, + LED_CYAN, LED_WHITE, LED_AMBER }; @@ -188,6 +194,26 @@ private: bool systemstate_run; + int vehicle_status_sub_fd; + int vehicle_control_mode_sub_fd; + int vehicle_gps_position_sub_fd; + int actuator_armed_sub_fd; + int safety_sub_fd; + + int num_of_cells; + int detected_cells_runcount; + + int t_led_color[8]; + int t_led_blink; + int led_thread_runcount; + int led_interval; + + bool topic_initialized; + bool detected_cells_blinked; + bool led_thread_ready; + + int num_of_used_sats; + void setLEDColor(int ledcolor); static void led_trampoline(void *arg); void led(); @@ -259,7 +285,22 @@ BlinkM::BlinkM(int bus, int blinkm) : led_color_7(LED_OFF), led_color_8(LED_OFF), led_blink(LED_NOBLINK), - systemstate_run(false) + systemstate_run(false), + vehicle_status_sub_fd(-1), + vehicle_control_mode_sub_fd(-1), + vehicle_gps_position_sub_fd(-1), + actuator_armed_sub_fd(-1), + safety_sub_fd(-1), + num_of_cells(0), + detected_cells_runcount(0), + t_led_color({0}), + t_led_blink(0), + led_thread_runcount(0), + led_interval(1000), + topic_initialized(false), + detected_cells_blinked(false), + led_thread_ready(true), + num_of_used_sats(0) { memset(&_work, 0, sizeof(_work)); } @@ -376,42 +417,22 @@ void BlinkM::led() { - static int vehicle_status_sub_fd; - static int vehicle_control_mode_sub_fd; - static int vehicle_gps_position_sub_fd; - static int actuator_armed_sub_fd; - - static int num_of_cells = 0; - static int detected_cells_runcount = 0; - - static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0}; - static int t_led_blink = 0; - static int led_thread_runcount=0; - static int led_interval = 1000; - - static int no_data_vehicle_status = 0; - static int no_data_vehicle_control_mode = 0; - static int no_data_actuator_armed = 0; - static int no_data_vehicle_gps_position = 0; - - static bool topic_initialized = false; - static bool detected_cells_blinked = false; - static bool led_thread_ready = true; - - int num_of_used_sats = 0; - if(!topic_initialized) { vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status)); - orb_set_interval(vehicle_status_sub_fd, 1000); + orb_set_interval(vehicle_status_sub_fd, 250); vehicle_control_mode_sub_fd = orb_subscribe(ORB_ID(vehicle_control_mode)); - orb_set_interval(vehicle_control_mode_sub_fd, 1000); + orb_set_interval(vehicle_control_mode_sub_fd, 250); actuator_armed_sub_fd = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(actuator_armed_sub_fd, 1000); + orb_set_interval(actuator_armed_sub_fd, 250); vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position)); - orb_set_interval(vehicle_gps_position_sub_fd, 1000); + orb_set_interval(vehicle_gps_position_sub_fd, 250); + + /* Subscribe to safety topic */ + safety_sub_fd = orb_subscribe(ORB_ID(safety)); + orb_set_interval(safety_sub_fd, 250); topic_initialized = true; } @@ -433,7 +454,9 @@ BlinkM::led() if(num_of_cells > 4) { t_led_color[4] = LED_PURPLE; } - t_led_color[5] = LED_OFF; + if(num_of_cells > 5) { + t_led_color[5] = LED_PURPLE; + } t_led_color[6] = LED_OFF; t_led_color[7] = LED_OFF; t_led_blink = LED_BLINK; @@ -467,17 +490,25 @@ BlinkM::led() struct vehicle_control_mode_s vehicle_control_mode; struct actuator_armed_s actuator_armed; struct vehicle_gps_position_s vehicle_gps_position_raw; + struct safety_s safety; memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw)); memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw)); + memset(&safety, 0, sizeof(safety)); bool new_data_vehicle_status; bool new_data_vehicle_control_mode; bool new_data_actuator_armed; bool new_data_vehicle_gps_position; + bool new_data_safety; orb_check(vehicle_status_sub_fd, &new_data_vehicle_status); + int no_data_vehicle_status = 0; + int no_data_vehicle_control_mode = 0; + int no_data_actuator_armed = 0; + int no_data_vehicle_gps_position = 0; + if (new_data_vehicle_status) { orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw); no_data_vehicle_status = 0; @@ -520,7 +551,12 @@ BlinkM::led() no_data_vehicle_gps_position = 3; } + /* update safety topic */ + orb_check(safety_sub_fd, &new_data_safety); + if (new_data_safety) { + orb_copy(ORB_ID(safety), safety_sub_fd, &safety); + } /* get number of used satellites in navigation */ num_of_used_sats = 0; @@ -541,19 +577,7 @@ BlinkM::led() printf(" cells found:%d\n", num_of_cells); } else { - if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_LOW) { - /* LED Pattern for battery low warning */ - led_color_1 = LED_YELLOW; - led_color_2 = LED_YELLOW; - led_color_3 = LED_YELLOW; - led_color_4 = LED_YELLOW; - led_color_5 = LED_YELLOW; - led_color_6 = LED_YELLOW; - led_color_7 = LED_YELLOW; - led_color_8 = LED_YELLOW; - led_blink = LED_BLINK; - - } else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) { + if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) { /* LED Pattern for battery critical alerting */ led_color_1 = LED_RED; led_color_2 = LED_RED; @@ -565,21 +589,56 @@ BlinkM::led() led_color_8 = LED_RED; led_blink = LED_BLINK; + } else if(vehicle_status_raw.rc_signal_lost) { + /* LED Pattern for FAILSAFE */ + led_color_1 = LED_BLUE; + led_color_2 = LED_BLUE; + led_color_3 = LED_BLUE; + led_color_4 = LED_BLUE; + led_color_5 = LED_BLUE; + led_color_6 = LED_BLUE; + led_color_7 = LED_BLUE; + led_color_8 = LED_BLUE; + led_blink = LED_BLINK; + + } else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_LOW) { + /* LED Pattern for battery low warning */ + led_color_1 = LED_YELLOW; + led_color_2 = LED_YELLOW; + led_color_3 = LED_YELLOW; + led_color_4 = LED_YELLOW; + led_color_5 = LED_YELLOW; + led_color_6 = LED_YELLOW; + led_color_7 = LED_YELLOW; + led_color_8 = LED_YELLOW; + led_blink = LED_BLINK; + } else { /* no battery warnings here */ if(actuator_armed.armed == false) { /* system not armed */ - led_color_1 = LED_RED; - led_color_2 = LED_RED; - led_color_3 = LED_RED; - led_color_4 = LED_RED; - led_color_5 = LED_RED; - led_color_6 = LED_RED; - led_color_7 = LED_RED; - led_color_8 = LED_RED; - led_blink = LED_NOBLINK; - + if(safety.safety_off){ + led_color_1 = LED_ORANGE; + led_color_2 = LED_ORANGE; + led_color_3 = LED_ORANGE; + led_color_4 = LED_ORANGE; + led_color_5 = LED_ORANGE; + led_color_6 = LED_ORANGE; + led_color_7 = LED_ORANGE; + led_color_8 = LED_ORANGE; + led_blink = LED_BLINK; + }else{ + led_color_1 = LED_CYAN; + led_color_2 = LED_CYAN; + led_color_3 = LED_CYAN; + led_color_4 = LED_CYAN; + led_color_5 = LED_CYAN; + led_color_6 = LED_CYAN; + led_color_7 = LED_CYAN; + led_color_8 = LED_CYAN; + led_blink = LED_NOBLINK; + } } else { /* armed system - initial led pattern */ led_color_1 = LED_RED; @@ -593,23 +652,22 @@ BlinkM::led() led_blink = LED_BLINK; if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) { - - //XXX please check - if (vehicle_control_mode.flag_control_position_enabled) + /* indicate main control state */ + if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL) led_color_4 = LED_GREEN; - else if (vehicle_control_mode.flag_control_velocity_enabled) + else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO) led_color_4 = LED_BLUE; - else if (vehicle_control_mode.flag_control_attitude_enabled) + else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL) led_color_4 = LED_YELLOW; - else if (vehicle_control_mode.flag_control_manual_enabled) - led_color_4 = LED_AMBER; + else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL) + led_color_4 = LED_WHITE; else led_color_4 = LED_OFF; - + led_color_5 = led_color_4; } if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) { - /* handling used sat�s */ + /* handling used satus */ if(num_of_used_sats >= 7) { led_color_1 = LED_OFF; led_color_2 = LED_OFF; @@ -690,8 +748,11 @@ void BlinkM::setLEDColor(int ledcolor) { case LED_RED: // red set_rgb(255,0,0); break; + case LED_ORANGE: // orange + set_rgb(255,150,0); + break; case LED_YELLOW: // yellow - set_rgb(255,70,0); + set_rgb(200,200,0); break; case LED_PURPLE: // purple set_rgb(255,0,255); @@ -702,11 +763,14 @@ void BlinkM::setLEDColor(int ledcolor) { case LED_BLUE: // blue set_rgb(0,0,255); break; + case LED_CYAN: // cyan + set_rgb(0,128,128); + break; case LED_WHITE: // white set_rgb(255,255,255); break; case LED_AMBER: // amber - set_rgb(255,20,0); + set_rgb(255,65,0); break; } } diff --git a/src/drivers/boards/aerocore/aerocore_init.c b/src/drivers/boards/aerocore/aerocore_init.c new file mode 100644 index 0000000000..4e3ba2d7e4 --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_init.c @@ -0,0 +1,282 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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 aerocore_init.c + * + * AeroCore-specific early startup code. This file implements the + * nsh_archinitialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include "board_config.h" +#include + +#include + +#include +#include + +#include +#include + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* Debug ********************************************************************/ + +#ifdef CONFIG_CPP_HAVE_VARARGS +# ifdef CONFIG_DEBUG +# define message(...) lowsyslog(__VA_ARGS__) +# else +# define message(...) printf(__VA_ARGS__) +# endif +#else +# ifdef CONFIG_DEBUG +# define message lowsyslog +# else +# define message printf +# endif +#endif + +/**************************************************************************** + * Protected Functions + ****************************************************************************/ + +#if defined(CONFIG_FAT_DMAMEMORY) +# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY) +# error microSD DMA support requires CONFIG_GRAN +# endif + +static GRAN_HANDLE dma_allocator; + +/* + * The DMA heap size constrains the total number of things that can be + * ready to do DMA at a time. + * + * For example, FAT DMA depends on one sector-sized buffer per filesystem plus + * one sector-sized buffer per file. + * + * We use a fundamental alignment / granule size of 64B; this is sufficient + * to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits). + */ +static uint8_t g_dma_heap[8192] __attribute__((aligned(64))); +static perf_counter_t g_dma_perf; + +static void +dma_alloc_init(void) +{ + dma_allocator = gran_initialize(g_dma_heap, + sizeof(g_dma_heap), + 7, /* 128B granule - must be > alignment (XXX bug?) */ + 6); /* 64B alignment */ + if (dma_allocator == NULL) { + message("[boot] DMA allocator setup FAILED"); + } else { + g_dma_perf = perf_alloc(PC_COUNT, "DMA allocations"); + } +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/* + * DMA-aware allocator stubs for the FAT filesystem. + */ + +__EXPORT void *fat_dma_alloc(size_t size); +__EXPORT void fat_dma_free(FAR void *memory, size_t size); + +void * +fat_dma_alloc(size_t size) +{ + perf_count(g_dma_perf); + return gran_alloc(dma_allocator, size); +} + +void +fat_dma_free(FAR void *memory, size_t size) +{ + gran_free(dma_allocator, memory, size); +} + +#else + +# define dma_alloc_init() + +#endif + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void +stm32_boardinitialize(void) +{ + /* configure SPI interfaces */ + stm32_spiinitialize(); + + /* configure LEDs */ + up_ledinit(); +} + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization + * + ****************************************************************************/ + +static struct spi_dev_s *spi3; +static struct spi_dev_s *spi4; + +#include + +#ifdef __cplusplus +__EXPORT int matherr(struct __exception *e) +{ + return 1; +} +#else +__EXPORT int matherr(struct exception *e) +{ + return 1; +} +#endif + +__EXPORT int nsh_archinitialize(void) +{ + + /* configure ADC pins */ + stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */ + stm32_configgpio(GPIO_ADC1_IN11); /* J1 breakout */ + stm32_configgpio(GPIO_ADC1_IN12); /* J1 breakout */ + stm32_configgpio(GPIO_ADC1_IN13); /* J1 breakout */ + + /* configure the high-resolution time/callout interface */ + hrt_init(); + + /* configure the DMA allocator */ + dma_alloc_init(); + + /* configure CPU load estimation */ +#ifdef CONFIG_SCHED_INSTRUMENTATION + cpuload_initialize_once(); +#endif + + /* set up the serial DMA polling */ + static struct hrt_call serial_dma_call; + struct timespec ts; + + /* + * Poll at 1ms intervals for received bytes that have not triggered + * a DMA event. + */ + ts.tv_sec = 0; + ts.tv_nsec = 1000000; + + hrt_call_every(&serial_dma_call, + ts_to_abstime(&ts), + ts_to_abstime(&ts), + (hrt_callout)stm32_serial_dma_poll, + NULL); + + /* initial LED state */ + drv_led_start(); + led_off(LED_AMBER); + + /* Configure Sensors on SPI bus #3 */ + spi3 = up_spiinitialize(3); + if (!spi3) { + message("[boot] FAILED to initialize SPI port 3\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + /* Default: 1MHz, 8 bits, Mode 3 */ + SPI_SETFREQUENCY(spi3, 10000000); + SPI_SETBITS(spi3, 8); + SPI_SETMODE(spi3, SPIDEV_MODE3); + SPI_SELECT(spi3, PX4_SPIDEV_GYRO, false); + SPI_SELECT(spi3, PX4_SPIDEV_ACCEL_MAG, false); + SPI_SELECT(spi3, PX4_SPIDEV_BARO, false); + up_udelay(20); + message("[boot] Initialized SPI port 3 (SENSORS)\n"); + + /* Configure FRAM on SPI bus #4 */ + spi4 = up_spiinitialize(4); + if (!spi4) { + message("[boot] FAILED to initialize SPI port 4\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + /* Default: ~10MHz, 8 bits, Mode 3 */ + SPI_SETFREQUENCY(spi4, 10 * 1000 * 1000); + SPI_SETBITS(spi4, 8); + SPI_SETMODE(spi4, SPIDEV_MODE0); + SPI_SELECT(spi4, SPIDEV_FLASH, false); + message("[boot] Initialized SPI port 4 (FRAM)\n"); + + return OK; +} diff --git a/src/drivers/boards/aerocore/aerocore_led.c b/src/drivers/boards/aerocore/aerocore_led.c new file mode 100644 index 0000000000..e40d1730c6 --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_led.c @@ -0,0 +1,121 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * 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 aerocore_led.c + * + * AeroCore LED backend. + */ + +#include + +#include + +#include "stm32.h" +#include "board_config.h" + +#include + +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +__EXPORT void led_init() +{ + stm32_configgpio(GPIO_LED0); + stm32_configgpio(GPIO_LED1); +} + +__EXPORT void led_on(int led) +{ + switch (led) { + case 0: + stm32_gpiowrite(GPIO_LED0, true); + break; + + case 1: + stm32_gpiowrite(GPIO_LED1, true); + break; + + default: + warnx("LED ID not recognized\n"); + } +} + +__EXPORT void led_off(int led) +{ + switch (led) { + case 0: + stm32_gpiowrite(GPIO_LED0, false); + break; + + case 1: + stm32_gpiowrite(GPIO_LED1, false); + break; + + default: + warnx("LED ID not recognized\n"); + } +} + +__EXPORT void led_toggle(int led) +{ + switch (led) { + case 0: + if (stm32_gpioread(GPIO_LED0)) + stm32_gpiowrite(GPIO_LED0, false); + else + stm32_gpiowrite(GPIO_LED0, true); + break; + + case 1: + if (stm32_gpioread(GPIO_LED1)) + stm32_gpiowrite(GPIO_LED1, false); + else + stm32_gpiowrite(GPIO_LED1, true); + break; + + default: + warnx("LED ID not recognized\n"); + } +} diff --git a/src/drivers/boards/aerocore/aerocore_pwm_servo.c b/src/drivers/boards/aerocore/aerocore_pwm_servo.c new file mode 100644 index 0000000000..251eaff7b4 --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_pwm_servo.c @@ -0,0 +1,117 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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 aerocore_pwm_servo.c + * + * Configuration data for the stm32 pwm_servo driver. + * + * Note that these arrays must always be fully-sized. + */ + +#include + +#include +#include +#include + +#include +#include + +#include "board_config.h" + +__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { + { + .base = STM32_TIM1_BASE, + .clock_register = STM32_RCC_APB2ENR, + .clock_bit = RCC_APB2ENR_TIM1EN, + .clock_freq = STM32_APB2_TIM1_CLKIN + }, + { + .base = STM32_TIM3_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM3EN, + .clock_freq = STM32_APB1_TIM3_CLKIN + } +}; + +__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { + { + .gpio = GPIO_TIM1_CH1OUT, + .timer_index = 0, + .timer_channel = 1, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM1_CH2OUT, + .timer_index = 0, + .timer_channel = 2, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM1_CH3OUT, + .timer_index = 0, + .timer_channel = 3, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM1_CH4OUT, + .timer_index = 0, + .timer_channel = 4, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH1OUT, + .timer_index = 1, + .timer_channel = 1, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH2OUT, + .timer_index = 1, + .timer_channel = 2, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH3OUT, + .timer_index = 1, + .timer_channel = 3, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH4OUT, + .timer_index = 1, + .timer_channel = 4, + .default_value = 1500, + } +}; diff --git a/src/drivers/boards/aerocore/aerocore_spi.c b/src/drivers/boards/aerocore/aerocore_spi.c new file mode 100644 index 0000000000..e329bd9d1a --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_spi.c @@ -0,0 +1,183 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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 aerocore_spi.c + * + * Board-specific SPI functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include "board_config.h" + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void weak_function stm32_spiinitialize(void) +{ +#ifdef CONFIG_STM32_SPI1 + stm32_configgpio(GPIO_SPI1_NSS); + stm32_gpiowrite(GPIO_SPI1_NSS, 1); +#endif + +#ifdef CONFIG_STM32_SPI2 + stm32_configgpio(GPIO_SPI2_NSS); + stm32_gpiowrite(GPIO_SPI2_NSS, 1); +#endif + +#ifdef CONFIG_STM32_SPI3 + stm32_configgpio(GPIO_SPI_CS_GYRO); + stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG); + stm32_configgpio(GPIO_SPI_CS_BARO); + + /* De-activate all peripherals, + * required for some peripheral + * state machines + */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + + stm32_configgpio(GPIO_EXTI_GYRO_DRDY); + stm32_configgpio(GPIO_EXTI_MAG_DRDY); + stm32_configgpio(GPIO_EXTI_ACCEL_DRDY); +#endif + +#ifdef CONFIG_STM32_SPI4 + stm32_configgpio(GPIO_SPI4_NSS); + stm32_gpiowrite(GPIO_SPI4_NSS, 1); +#endif +} + +#ifdef CONFIG_STM32_SPI1 +__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there is only one device broken-out so select it */ + stm32_gpiowrite(GPIO_SPI1_NSS, !selected); +} + +__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} +#endif + +#ifdef CONFIG_STM32_SPI2 +__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there is only one device broken-out so select it */ + stm32_gpiowrite(GPIO_SPI2_NSS, !selected); +} + +__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} +#endif + +#ifdef CONFIG_STM32_SPI3 +__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* SPI select is active low, so write !selected to select the device */ + + switch (devid) { + case PX4_SPIDEV_GYRO: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + break; + + case PX4_SPIDEV_ACCEL_MAG: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + break; + + case PX4_SPIDEV_BARO: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected); + break; + + default: + break; + } +} + +__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} +#endif + + +#ifdef CONFIG_STM32_SPI4 +__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there can only be one device on this bus, so always select it */ + stm32_gpiowrite(GPIO_SPI4_NSS, !selected); +} + +__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + /* FRAM is always present */ + return SPI_STATUS_PRESENT; +} +#endif diff --git a/src/drivers/boards/aerocore/board_config.h b/src/drivers/boards/aerocore/board_config.h new file mode 100644 index 0000000000..70142a3147 --- /dev/null +++ b/src/drivers/boards/aerocore/board_config.h @@ -0,0 +1,176 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * + * 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 board_config.h + * + * AeroCore internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + +__BEGIN_DECLS + +/* these headers are not C++ safe */ +#include +#include + +#define UDID_START 0x1FFF7A10 + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +/* LEDs */ +#define GPIO_LED0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9) +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10) + +/* Gyro */ +#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN0) +#define SENSOR_BOARD_ROTATION_DEFAULT 3 /* SENSOR_BOARD_ROTATION_270_DEG */ + +/* Accel & Mag */ +#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN1) +#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN2) + +/* GPS */ +#define GPIO_GPS_NRESET (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5) +#define GPIO_GPS_TIMEPULSE (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN4) +#define GPS_DEFAULT_UART_PORT "/dev/ttyS0" + +/* SPI3--Sensors */ +#define PX4_SPI_BUS_SENSORS 3 +#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2) +#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) +#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) + +/* Nominal chip selects for devices on SPI bus #3 */ +#define PX4_SPIDEV_ACCEL_MAG 0 +#define PX4_SPIDEV_GYRO 1 +#define PX4_SPIDEV_BARO 2 + +/* User GPIOs broken out on J11 */ +#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0) +#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1) +#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1) +#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2) +#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3) +#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12) +#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO8_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14) +#define GPIO_GPIO9_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15) +#define GPIO_GPIO10_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) +#define GPIO_GPIO11_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8) + +#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) +#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) +#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) +#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2) +#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3) +#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12) +#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO8_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) +#define GPIO_GPIO9_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15) +#define GPIO_GPIO10_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5) +#define GPIO_GPIO11_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) + +/* PWM + * + * Eight PWM outputs are configured. + * + * Pins: + * + * CH1 : PA8 : TIM1_CH1 + * CH2 : PA9 : TIM1_CH2 + * CH3 : PA10 : TIM1_CH3 + * CH4 : PA11 : TIM1_CH4 + * CH5 : PC6 : TIM3_CH1 + * CH6 : PC7 : TIM3_CH2 + * CH7 : PC8 : TIM3_CH3 + * CH8 : PC9 : TIM3_CH4 + */ +#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1 +#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_1 +#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_1 +#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_1 +#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_3 +#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_3 +#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_2 +#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_2 + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer 8 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ + +/* Tone Alarm (no onboard speaker )*/ +#define TONE_ALARM_TIMER 2 /* timer 2 */ +#define TONE_ALARM_CHANNEL 1 /* channel 1 */ +#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) +#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0) + + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/src/drivers/boards/aerocore/module.mk b/src/drivers/boards/aerocore/module.mk new file mode 100644 index 0000000000..b53fe0a293 --- /dev/null +++ b/src/drivers/boards/aerocore/module.mk @@ -0,0 +1,8 @@ +# +# Board-specific startup code for the AeroCore +# + +SRCS = aerocore_init.c \ + aerocore_pwm_servo.c \ + aerocore_spi.c \ + aerocore_led.c diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h index 02c26b5c0b..58273f2d29 100644 --- a/src/drivers/boards/px4fmu-v1/board_config.h +++ b/src/drivers/boards/px4fmu-v1/board_config.h @@ -85,6 +85,8 @@ __BEGIN_DECLS #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) #define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) +#define PX4_SPI_BUS_SENSORS 1 + /* * Use these in place of the spi_dev_e enumeration to * select a specific SPI device on SPI1 diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index 7cfca7656e..c2de1bfba0 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -107,6 +107,8 @@ __BEGIN_DECLS #define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) +#define PX4_SPI_BUS_SENSORS 1 + /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */ #define PX4_SPIDEV_GYRO 1 #define PX4_SPIDEV_ACCEL_MAG 2 diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp index b157b3f181..6e2ebb1f7b 100644 --- a/src/drivers/device/cdev.cpp +++ b/src/drivers/device/cdev.cpp @@ -124,7 +124,7 @@ CDev::register_class_devname(const char *class_devname) if (ret == OK) break; } else { char name[32]; - snprintf(name, sizeof(name), "%s%u", class_devname, class_instance); + snprintf(name, sizeof(name), "%s%d", class_devname, class_instance); ret = register_driver(name, &fops, 0666, (void *)this); if (ret == OK) break; } diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h index f60964c2b1..5acd0d3434 100644 --- a/src/drivers/drv_gpio.h +++ b/src/drivers/drv_gpio.h @@ -94,6 +94,14 @@ #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE +/* + * AeroCore GPIO numbers and configuration. + * + */ +# define PX4FMU_DEVICE_PATH "/dev/px4fmu" +#endif + #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 /* no GPIO driver on the PX4IOv1 board */ #endif @@ -146,4 +154,4 @@ #define GPIO_SENSOR_RAIL_RESET GPIOC(13) -#endif /* _DRV_GPIO_H */ \ No newline at end of file +#endif /* _DRV_GPIO_H */ diff --git a/src/drivers/drv_gps.h b/src/drivers/drv_gps.h index 06e3535b30..e14f4e00da 100644 --- a/src/drivers/drv_gps.h +++ b/src/drivers/drv_gps.h @@ -43,10 +43,14 @@ #include #include +#include "board_config.h" + #include "drv_sensor.h" #include "drv_orb_dev.h" +#ifndef GPS_DEFAULT_UART_PORT #define GPS_DEFAULT_UART_PORT "/dev/ttyS3" +#endif #define GPS_DEVICE_PATH "/dev/gps" diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h index d130d68b34..8bfc90c64b 100644 --- a/src/drivers/drv_hrt.h +++ b/src/drivers/drv_hrt.h @@ -41,6 +41,7 @@ #include #include +#include #include #include diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 7a93e513ed..972573f9ff 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -199,6 +199,9 @@ ORB_DECLARE(output_pwm); /** get the lockdown override flag to enable outputs in HIL */ #define PWM_SERVO_GET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 22) +/** force safety switch off (to disable use of safety switch) */ +#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23) + /* * * diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h new file mode 100644 index 0000000000..bef02d54ef --- /dev/null +++ b/src/drivers/drv_px4flow.h @@ -0,0 +1,84 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * 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 Rangefinder driver interface. + */ + +#ifndef _DRV_PX4FLOW_H +#define _DRV_PX4FLOW_H + +#include +#include + +#include "drv_sensor.h" +#include "drv_orb_dev.h" + +#define PX4FLOW_DEVICE_PATH "/dev/px4flow" + +/** + * Optical flow in NED body frame in SI units. + * + * @see http://en.wikipedia.org/wiki/International_System_of_Units + */ +struct px4flow_report { + + uint64_t timestamp; /**< in microseconds since system start */ + + int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ + int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ + float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ + float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */ + float ground_distance_m; /**< Altitude / distance to ground in meters */ + uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ + uint8_t sensor_id; /**< id of the sensor emitting the flow value */ + +}; + +/* + * ObjDev tag for px4flow data. + */ +ORB_DECLARE(optical_flow); + +/* + * ioctl() definitions + * + * px4flow drivers also implement the generic sensor driver + * interfaces from drv_sensor.h + */ + +#define _PX4FLOWIOCBASE (0x7700) +#define __PX4FLOWIOC(_n) (_IOC(_PX4FLOWIOCBASE, _n)) + + +#endif /* _DRV_PX4FLOW_H */ diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h index cf91f70304..e45939b371 100644 --- a/src/drivers/drv_range_finder.h +++ b/src/drivers/drv_range_finder.h @@ -46,6 +46,10 @@ #define RANGE_FINDER_DEVICE_PATH "/dev/range_finder" +enum RANGE_FINDER_TYPE { + RANGE_FINDER_TYPE_LASER = 0, +}; + /** * range finder report structure. Reads from the device must be in multiples of this * structure. @@ -53,8 +57,11 @@ struct range_finder_report { uint64_t timestamp; uint64_t error_count; - float distance; /** in meters */ - uint8_t valid; /** 1 == within sensor range, 0 = outside sensor range */ + unsigned type; /**< type, following RANGE_FINDER_TYPE enum */ + float distance; /**< in meters */ + float minimum_distance; /**< minimum distance the sensor can measure */ + float maximum_distance; /**< maximum distance the sensor can measure */ + uint8_t valid; /**< 1 == within sensor range, 0 = outside sensor range */ }; /* diff --git a/src/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h index cb5fd53a5f..b7981e9c4b 100644 --- a/src/drivers/drv_tone_alarm.h +++ b/src/drivers/drv_tone_alarm.h @@ -147,6 +147,8 @@ enum { TONE_BATTERY_WARNING_SLOW_TUNE, TONE_BATTERY_WARNING_FAST_TUNE, TONE_GPS_WARNING_TUNE, + TONE_ARMING_FAILURE_TUNE, + TONE_PARACHUTE_RELEASE_TUNE, TONE_NUMBER_OF_TUNES }; diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index b6e80ce1d0..146a06e7cf 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -132,7 +132,6 @@ ETSAirspeed::measure() if (OK != ret) { perf_count(_comms_errors); - log("i2c::transfer returned %d", ret); } return ret; @@ -177,11 +176,14 @@ ETSAirspeed::collect() _max_differential_pressure_pa = diff_pres_pa; } - // XXX we may want to smooth out the readings to remove noise. differential_pressure_s report; report.timestamp = hrt_absolute_time(); report.error_count = perf_event_count(_comms_errors); report.differential_pressure_pa = (float)diff_pres_pa; + + // XXX we may want to smooth out the readings to remove noise. + report.differential_pressure_filtered_pa = (float)diff_pres_pa; + report.temperature = -1000.0f; report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; @@ -205,14 +207,18 @@ ETSAirspeed::collect() void ETSAirspeed::cycle() { + int ret; + /* collection phase? */ if (_collect_phase) { /* perform collection */ - if (OK != collect()) { + ret = collect(); + if (OK != ret) { perf_count(_comms_errors); /* restart the measurement state machine */ start(); + _sensor_ok = false; return; } @@ -236,8 +242,12 @@ ETSAirspeed::cycle() } /* measurement phase */ - if (OK != measure()) - log("measure error"); + ret = measure(); + if (OK != ret) { + debug("measure error"); + } + + _sensor_ok = (ret == OK); /* next phase is collection */ _collect_phase = true; @@ -308,7 +318,7 @@ fail: g_dev = nullptr; } - errx(1, "driver start failed"); + errx(1, "no ETS airspeed sensor connected"); } /** diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c index cfcf91e3fb..18de3f4dac 100644 --- a/src/drivers/frsky_telemetry/frsky_data.c +++ b/src/drivers/frsky_telemetry/frsky_data.c @@ -53,6 +53,8 @@ #include #include +#include + /* FrSky sensor hub data IDs */ #define FRSKY_ID_GPS_ALT_BP 0x01 #define FRSKY_ID_TEMP1 0x02 @@ -225,7 +227,7 @@ void frsky_send_frame2(int uart) float course = 0, lat = 0, lon = 0, speed = 0, alt = 0; char lat_ns = 0, lon_ew = 0; int sec = 0; - if (global_pos.global_valid) { + if (global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) { time_t time_gps = global_pos.time_gps_usec / 1000000; struct tm *tm_gps = gmtime(&time_gps); diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c index 7b08ca69e9..6e08390436 100644 --- a/src/drivers/frsky_telemetry/frsky_telemetry.c +++ b/src/drivers/frsky_telemetry/frsky_telemetry.c @@ -222,7 +222,7 @@ int frsky_telemetry_main(int argc, char *argv[]) frsky_task = task_spawn_cmd("frsky_telemetry", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2048, + 2000, frsky_telemetry_thread_main, (const char **)argv); diff --git a/src/drivers/frsky_telemetry/module.mk b/src/drivers/frsky_telemetry/module.mk index 1632c74f75..9a49589ee5 100644 --- a/src/drivers/frsky_telemetry/module.mk +++ b/src/drivers/frsky_telemetry/module.mk @@ -39,3 +39,5 @@ MODULE_COMMAND = frsky_telemetry SRCS = frsky_data.c \ frsky_telemetry.c + +MODULE_STACKSIZE = 1200 diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index a736cbdf6b..6195cd6eab 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -56,6 +56,7 @@ #include #include #include +#include #include #include #include @@ -63,6 +64,8 @@ #include #include +#include + #include "ubx.h" #include "mtk.h" @@ -76,12 +79,6 @@ #endif static const int ERROR = -1; -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - - - class GPS : public device::CDev { public: @@ -209,7 +206,8 @@ GPS::init() goto out; /* start the GPS driver worker task */ - _task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr); + _task = task_spawn_cmd("gps", SCHED_DEFAULT, + SCHED_PRIORITY_SLOW_DRIVER, 2000, (main_t)&GPS::task_main_trampoline, nullptr); if (_task < 0) { warnx("task start failed: %d", errno); @@ -232,6 +230,11 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg) case SENSORIOCRESET: cmd_reset(); break; + + default: + /* give it to parent if no one wants it */ + ret = CDev::ioctl(filp, cmd, arg); + break; } unlock(); @@ -271,14 +274,14 @@ GPS::task_main() _report.timestamp_position = hrt_absolute_time(); _report.lat = (int32_t)47.378301e7f; _report.lon = (int32_t)8.538777e7f; - _report.alt = (int32_t)400e3f; + _report.alt = (int32_t)1200e3f; _report.timestamp_variance = hrt_absolute_time(); _report.s_variance_m_s = 10.0f; _report.p_variance_m = 10.0f; _report.c_variance_rad = 0.1f; _report.fix_type = 3; - _report.eph_m = 10.0f; - _report.epv_m = 10.0f; + _report.eph_m = 0.9f; + _report.epv_m = 1.8f; _report.timestamp_velocity = hrt_absolute_time(); _report.vel_n_m_s = 0.0f; _report.vel_e_m_s = 0.0f; @@ -416,7 +419,14 @@ GPS::task_main() void GPS::cmd_reset() { - //XXX add reset? +#ifdef GPIO_GPS_NRESET + warnx("Toggling GPS reset pin"); + stm32_configgpio(GPIO_GPS_NRESET); + stm32_gpiowrite(GPIO_GPS_NRESET, 0); + usleep(100); + stm32_gpiowrite(GPIO_GPS_NRESET, 1); + warnx("Toggled GPS reset pin"); +#endif } void diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk index 82c67d40a3..eb382c4b26 100644 --- a/src/drivers/gps/module.mk +++ b/src/drivers/gps/module.mk @@ -41,3 +41,5 @@ SRCS = gps.cpp \ gps_helper.cpp \ mtk.cpp \ ubx.cpp + +MODULE_STACKSIZE = 1200 diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index c90ecbe281..680f00d97f 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -249,12 +249,18 @@ MTK::handle_message(gps_mtk_packet_t &packet) warnx("mtk: unknown revision"); _gps_position->lat = 0; _gps_position->lon = 0; + + // Indicate this data is not usable and bail out + _gps_position->eph_m = 1000.0f; + _gps_position->epv_m = 1000.0f; + _gps_position->fix_type = 0; + return; } _gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm _gps_position->fix_type = packet.fix_type; - _gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit - _gps_position->epv_m = 0.0; //unknown in mtk custom mode + _gps_position->eph_m = packet.hdop / 100.0f; // from cm to m + _gps_position->epv_m = _gps_position->eph_m; // unknown in mtk custom mode, so we cheat with eph _gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s _gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad _gps_position->satellites_visible = packet.satellites; diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index 0a047f38f1..55cc077fb6 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -122,7 +122,7 @@ private: actuator_controls_s _controls; static void task_main_trampoline(int argc, char *argv[]); - void task_main() __attribute__((noreturn)); + void task_main(); static int control_callback(uintptr_t handle, uint8_t control_group, diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 4c85c0cdaa..fddba806e3 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -158,6 +158,7 @@ private: int _class_instance; orb_advert_t _mag_topic; + orb_advert_t _subsystem_pub; perf_counter_t _sample_perf; perf_counter_t _comms_errors; @@ -169,6 +170,8 @@ private: int _bus; /**< the bus the device is connected to */ + struct mag_report _last_report; /**< used for info() */ + /** * Test whether the device supported by the driver is present at a * specific address. @@ -322,7 +325,9 @@ HMC5883::HMC5883(int bus) : _reports(nullptr), _range_scale(0), /* default range scale from counts to gauss */ _range_ga(1.3f), + _collect_phase(false), _mag_topic(-1), + _subsystem_pub(-1), _class_instance(-1), _sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")), _comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")), @@ -713,7 +718,7 @@ HMC5883::cycle() /* perform collection */ if (OK != collect()) { - log("collection error"); + debug("collection error"); /* restart the measurement state machine */ start(); return; @@ -740,7 +745,7 @@ HMC5883::cycle() /* measurement phase */ if (OK != measure()) - log("measure error"); + debug("measure error"); /* next phase is collection */ _collect_phase = true; @@ -870,6 +875,8 @@ HMC5883::collect() } } + _last_report = new_report; + /* post a report to the ring */ if (_reports->force(&new_report)) { perf_count(_buffer_overflows); @@ -1042,32 +1049,29 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]); - /* set back to normal mode */ - /* Set to 1.1 Gauss */ - if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) { - warnx("failed to set 1.1 Ga range"); - goto out; - } - - if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) { - warnx("failed to disable sensor calibration mode"); - goto out; - } - /* set scaling in device */ mscale_previous.x_scale = scaling[0]; mscale_previous.y_scale = scaling[1]; mscale_previous.z_scale = scaling[2]; - if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) { - warn("WARNING: failed to set new scale / offsets for mag"); - goto out; - } - ret = OK; out: + if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) { + warn("WARNING: failed to set new scale / offsets for mag"); + } + + /* set back to normal mode */ + /* Set to 1.1 Gauss */ + if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) { + warnx("failed to set 1.1 Ga range"); + } + + if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) { + warnx("failed to disable sensor calibration mode"); + } + if (ret == OK) { if (!check_scale()) { warnx("mag scale calibration successfully finished."); @@ -1136,13 +1140,12 @@ int HMC5883::check_calibration() true, _calibrated, SUBSYSTEM_TYPE_MAG}; - static orb_advert_t pub = -1; if (!(_pub_blocked)) { - if (pub > 0) { - orb_publish(ORB_ID(subsystem_info), pub, &info); + if (_subsystem_pub > 0) { + orb_publish(ORB_ID(subsystem_info), _subsystem_pub, &info); } else { - pub = orb_advertise(ORB_ID(subsystem_info), &info); + _subsystem_pub = orb_advertise(ORB_ID(subsystem_info), &info); } } } @@ -1221,6 +1224,7 @@ HMC5883::print_info() perf_print_counter(_comms_errors); perf_print_counter(_buffer_overflows); printf("poll interval: %u ticks\n", _measure_ticks); + printf("output (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z); printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset); printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n", (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale, diff --git a/src/drivers/hott/messages.cpp b/src/drivers/hott/messages.cpp index 90a7440159..1e779e8dc5 100644 --- a/src/drivers/hott/messages.cpp +++ b/src/drivers/hott/messages.cpp @@ -51,6 +51,8 @@ #include #include +#include + /* The board is very roughly 5 deg warmer than the surrounding air */ #define BOARD_TEMP_OFFSET_DEG 5 @@ -62,7 +64,6 @@ static int _airspeed_sub = -1; static int _esc_sub = -1; static orb_advert_t _esc_pub; -struct esc_status_s _esc; static bool _home_position_set = false; static double _home_lat = 0.0d; @@ -82,8 +83,6 @@ init_sub_messages(void) void init_pub_messages(void) { - memset(&_esc, 0, sizeof(_esc)); - _esc_pub = orb_advertise(ORB_ID(esc_status), &_esc); } void @@ -106,23 +105,26 @@ publish_gam_message(const uint8_t *buffer) size_t size = sizeof(msg); memset(&msg, 0, size); memcpy(&msg, buffer, size); + struct esc_status_s esc; + memset(&esc, 0, sizeof(esc)); + + // Publish it. + esc.timestamp = hrt_absolute_time(); + esc.esc_count = 1; + esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM; + + esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT; + esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10; + esc.esc[0].esc_temperature = msg.temperature1 - 20; + esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)); + esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff)); /* announce the esc if needed, just publish else */ if (_esc_pub > 0) { - orb_publish(ORB_ID(esc_status), _esc_pub, &_esc); + orb_publish(ORB_ID(esc_status), _esc_pub, &esc); } else { - _esc_pub = orb_advertise(ORB_ID(esc_status), &_esc); + _esc_pub = orb_advertise(ORB_ID(esc_status), &esc); } - - // Publish it. - _esc.esc_count = 1; - _esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM; - - _esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT; - _esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10; - _esc.esc[0].esc_temperature = msg.temperature1 - 20; - _esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)); - _esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff)); } void diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 90c3db9ae9..37e72388be 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -34,6 +34,9 @@ /** * @file l3gd20.cpp * Driver for the ST L3GD20 MEMS gyro connected via SPI. + * + * Note: With the exception of the self-test feature, the ST L3G4200D is + * also supported by this driver. */ #include @@ -89,9 +92,11 @@ static const int ERROR = -1; #define ADDR_WHO_AM_I 0x0F #define WHO_I_AM_H 0xD7 #define WHO_I_AM 0xD4 +#define WHO_I_AM_L3G4200D 0xD3 /* for L3G4200D */ #define ADDR_CTRL_REG1 0x20 #define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */ + /* keep lowpass low to avoid noise issues */ #define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4)) #define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4)) @@ -166,9 +171,14 @@ static const int ERROR = -1; #define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7) #define L3GD20_DEFAULT_RATE 760 +#define L3G4200D_DEFAULT_RATE 800 #define L3GD20_DEFAULT_RANGE_DPS 2000 #define L3GD20_DEFAULT_FILTER_FREQ 30 +#ifndef SENSOR_BOARD_ROTATION_DEFAULT +#define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG +#endif + extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); } class L3GD20 : public device::SPI @@ -216,6 +226,9 @@ private: math::LowPassFilter2p _gyro_filter_y; math::LowPassFilter2p _gyro_filter_z; + /* true if an L3G4200D is detected */ + bool _is_l3g4200d; + /** * Start automatic measurement. */ @@ -324,14 +337,15 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) : _gyro_topic(-1), _class_instance(-1), _current_rate(0), - _orientation(SENSOR_BOARD_ROTATION_270_DEG), + _orientation(SENSOR_BOARD_ROTATION_DEFAULT), _read(0), _sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")), _reschedules(perf_alloc(PC_COUNT, "l3gd20_reschedules")), _errors(perf_alloc(PC_COUNT, "l3gd20_errors")), _gyro_filter_x(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), _gyro_filter_y(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), - _gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ) + _gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), + _is_l3g4200d(false) { // enable debug() calls _debug_enabled = true; @@ -413,14 +427,7 @@ L3GD20::probe() /* verify that the device is attached and functioning, accept L3GD20 and L3GD20H */ if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) { - #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 - _orientation = SENSOR_BOARD_ROTATION_270_DEG; - #elif CONFIG_ARCH_BOARD_PX4FMU_V2 - _orientation = SENSOR_BOARD_ROTATION_270_DEG; - #else - #error This driver needs a board selection, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2 - #endif - + _orientation = SENSOR_BOARD_ROTATION_DEFAULT; success = true; } @@ -430,6 +437,13 @@ L3GD20::probe() success = true; } + /* Detect the L3G4200D used on AeroCore */ + if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_L3G4200D) { + _is_l3g4200d = true; + _orientation = SENSOR_BOARD_ROTATION_DEFAULT; + success = true; + } + if (success) return OK; @@ -502,6 +516,9 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: + if (_is_l3g4200d) { + return ioctl(filp, SENSORIOCSPOLLRATE, L3G4200D_DEFAULT_RATE); + } return ioctl(filp, SENSORIOCSPOLLRATE, L3GD20_DEFAULT_RATE); /* adjust to a legal polling interval in Hz */ @@ -683,23 +700,26 @@ L3GD20::set_samplerate(unsigned frequency) uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE; if (frequency == 0) - frequency = 760; + frequency = _is_l3g4200d ? 800 : 760; - /* use limits good for H or non-H models */ + /* + * Use limits good for H or non-H models. Rates are slightly different + * for L3G4200D part but register settings are the same. + */ if (frequency <= 100) { - _current_rate = 95; + _current_rate = _is_l3g4200d ? 100 : 95; bits |= RATE_95HZ_LP_25HZ; } else if (frequency <= 200) { - _current_rate = 190; + _current_rate = _is_l3g4200d ? 200 : 190; bits |= RATE_190HZ_LP_50HZ; } else if (frequency <= 400) { - _current_rate = 380; + _current_rate = _is_l3g4200d ? 400 : 380; bits |= RATE_380HZ_LP_50HZ; } else if (frequency <= 800) { - _current_rate = 760; + _current_rate = _is_l3g4200d ? 800 : 760; bits |= RATE_760HZ_LP_50HZ; } else { return -EINVAL; @@ -772,7 +792,7 @@ L3GD20::reset() * callback fast enough to not miss data. */ write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE); - set_samplerate(0); // 760Hz + set_samplerate(0); // 760Hz or 800Hz set_range(L3GD20_DEFAULT_RANGE_DPS); set_driver_lowpass_filter(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ); @@ -971,7 +991,7 @@ start() errx(0, "already started"); /* create the driver */ - g_dev = new L3GD20(1 /* SPI bus 1 */, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO); + g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO); if (g_dev == nullptr) goto fail; diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 4dee7649bc..4ca8b5e42d 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -1793,7 +1793,7 @@ start() errx(0, "already started"); /* create the driver */ - g_dev = new LSM303D(1 /* SPI dev 1 */, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); + g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); if (g_dev == nullptr) { warnx("failed instantiating LSM303D obj"); diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp index c910e28908..5adb8cf698 100644 --- a/src/drivers/mb12xx/mb12xx.cpp +++ b/src/drivers/mb12xx/mb12xx.cpp @@ -37,7 +37,7 @@ * * Driver for the Maxbotix sonar range finders connected via I2C. */ - + #include #include @@ -84,7 +84,7 @@ /* Device limits */ #define MB12XX_MIN_DISTANCE (0.20f) #define MB12XX_MAX_DISTANCE (7.65f) - + #define MB12XX_CONVERSION_INTERVAL 60000 /* 60ms */ /* oddly, ERROR is not defined for c++ */ @@ -102,17 +102,17 @@ class MB12XX : public device::I2C public: MB12XX(int bus = MB12XX_BUS, int address = MB12XX_BASEADDR); virtual ~MB12XX(); - + virtual int init(); - + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - + /** * Diagnostics - print some basic information about the driver. */ void print_info(); - + protected: virtual int probe(); @@ -124,13 +124,13 @@ private: bool _sensor_ok; int _measure_ticks; bool _collect_phase; - + orb_advert_t _range_finder_topic; perf_counter_t _sample_perf; perf_counter_t _comms_errors; perf_counter_t _buffer_overflows; - + /** * Test whether the device supported by the driver is present at a * specific address. @@ -139,7 +139,7 @@ private: * @return True if the device is present. */ int probe_address(uint8_t address); - + /** * Initialise the automatic measurement state machine and start it. * @@ -147,12 +147,12 @@ private: * to make it more aggressive about resetting the bus in case of errors. */ void start(); - + /** * Stop the automatic measurement state machine. */ void stop(); - + /** * Set the min and max distance thresholds if you want the end points of the sensors * range to be brought in at all, otherwise it will use the defaults MB12XX_MIN_DISTANCE @@ -162,7 +162,7 @@ private: void set_maximum_distance(float max); float get_minimum_distance(); float get_maximum_distance(); - + /** * Perform a poll cycle; collect from the previous measurement * and start a new one. @@ -177,8 +177,8 @@ private: * @param arg Instance pointer for the driver that is polling. */ static void cycle_trampoline(void *arg); - - + + }; /* @@ -200,8 +200,8 @@ MB12XX::MB12XX(int bus, int address) : _buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows")) { // enable debug() calls - _debug_enabled = true; - + _debug_enabled = false; + // work_cancel in the dtor will explode if we don't do this... memset(&_work, 0, sizeof(_work)); } @@ -212,8 +212,9 @@ MB12XX::~MB12XX() stop(); /* free any existing reports */ - if (_reports != nullptr) + if (_reports != nullptr) { delete _reports; + } } int @@ -222,22 +223,25 @@ MB12XX::init() int ret = ERROR; /* do I2C init (and probe) first */ - if (I2C::init() != OK) + if (I2C::init() != OK) { goto out; + } /* allocate basic report buffers */ _reports = new RingBuffer(2, sizeof(range_finder_report)); - if (_reports == nullptr) + if (_reports == nullptr) { goto out; + } /* get a publish handle on the range finder topic */ struct range_finder_report zero_report; memset(&zero_report, 0, sizeof(zero_report)); _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report); - if (_range_finder_topic < 0) + if (_range_finder_topic < 0) { debug("failed to create sensor_range_finder object. Did you start uOrb?"); + } ret = OK; /* sensor is ok, but we don't really know if it is within range */ @@ -256,13 +260,13 @@ void MB12XX::set_minimum_distance(float min) { _min_distance = min; -} +} void MB12XX::set_maximum_distance(float max) { _max_distance = max; -} +} float MB12XX::get_minimum_distance() @@ -284,20 +288,20 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg) case SENSORIOCSPOLLRATE: { switch (arg) { - /* switching to manual polling */ + /* switching to manual polling */ case SENSOR_POLLRATE_MANUAL: stop(); _measure_ticks = 0; return OK; - /* external signalling (DRDY) not supported */ + /* external signalling (DRDY) not supported */ case SENSOR_POLLRATE_EXTERNAL: - /* zero would be bad */ + /* zero would be bad */ case 0: return -EINVAL; - /* set default/max polling rate */ + /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: { /* do we need to start internal polling? */ @@ -307,13 +311,14 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg) _measure_ticks = USEC2TICK(MB12XX_CONVERSION_INTERVAL); /* if we need to start the poll state machine, do it */ - if (want_start) + if (want_start) { start(); + } return OK; } - /* adjust to a legal polling interval in Hz */ + /* adjust to a legal polling interval in Hz */ default: { /* do we need to start internal polling? */ bool want_start = (_measure_ticks == 0); @@ -322,15 +327,17 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg) unsigned ticks = USEC2TICK(1000000 / arg); /* check against maximum rate */ - if (ticks < USEC2TICK(MB12XX_CONVERSION_INTERVAL)) + if (ticks < USEC2TICK(MB12XX_CONVERSION_INTERVAL)) { return -EINVAL; + } /* update interval for next measurement */ _measure_ticks = ticks; /* if we need to start the poll state machine, do it */ - if (want_start) + if (want_start) { start(); + } return OK; } @@ -338,45 +345,49 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg) } case SENSORIOCGPOLLRATE: - if (_measure_ticks == 0) + if (_measure_ticks == 0) { return SENSOR_POLLRATE_MANUAL; + } return (1000 / _measure_ticks); case SENSORIOCSQUEUEDEPTH: { - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 1) || (arg > 100)) - return -EINVAL; - - irqstate_t flags = irqsave(); - if (!_reports->resize(arg)) { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) { + return -EINVAL; + } + + irqstate_t flags = irqsave(); + + if (!_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + irqrestore(flags); - return -ENOMEM; + + return OK; } - irqrestore(flags); - - return OK; - } case SENSORIOCGQUEUEDEPTH: return _reports->size(); - + case SENSORIOCRESET: /* XXX implement this */ return -EINVAL; - - case RANGEFINDERIOCSETMINIUMDISTANCE: - { - set_minimum_distance(*(float *)arg); - return 0; - } - break; - case RANGEFINDERIOCSETMAXIUMDISTANCE: - { - set_maximum_distance(*(float *)arg); - return 0; - } - break; + + case RANGEFINDERIOCSETMINIUMDISTANCE: { + set_minimum_distance(*(float *)arg); + return 0; + } + break; + + case RANGEFINDERIOCSETMAXIUMDISTANCE: { + set_maximum_distance(*(float *)arg); + return 0; + } + break; + default: /* give it to the superclass */ return I2C::ioctl(filp, cmd, arg); @@ -391,8 +402,9 @@ MB12XX::read(struct file *filp, char *buffer, size_t buflen) int ret = 0; /* buffer must be large enough */ - if (count < 1) + if (count < 1) { return -ENOSPC; + } /* if automatic measurement is enabled */ if (_measure_ticks > 0) { @@ -453,14 +465,14 @@ MB12XX::measure() uint8_t cmd = MB12XX_TAKE_RANGE_REG; ret = transfer(&cmd, 1, nullptr, 0); - if (OK != ret) - { + if (OK != ret) { perf_count(_comms_errors); log("i2c::transfer returned %d", ret); return ret; } + ret = OK; - + return ret; } @@ -468,32 +480,31 @@ int MB12XX::collect() { int ret = -EIO; - + /* read from the sensor */ uint8_t val[2] = {0, 0}; - + perf_begin(_sample_perf); - + ret = transfer(nullptr, 0, &val[0], 2); - - if (ret < 0) - { + + if (ret < 0) { log("error reading from sensor: %d", ret); perf_count(_comms_errors); perf_end(_sample_perf); return ret; } - + uint16_t distance = val[0] << 8 | val[1]; - float si_units = (distance * 1.0f)/ 100.0f; /* cm to m */ + float si_units = (distance * 1.0f) / 100.0f; /* cm to m */ struct range_finder_report report; /* this should be fairly close to the end of the measurement, so the best approximation of the time */ report.timestamp = hrt_absolute_time(); - report.error_count = perf_event_count(_comms_errors); + report.error_count = perf_event_count(_comms_errors); report.distance = si_units; report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0; - + /* publish it */ orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report); @@ -519,17 +530,19 @@ MB12XX::start() /* schedule a cycle to start things */ work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 1); - + /* notify about state change */ struct subsystem_info_s info = { true, true, true, - SUBSYSTEM_TYPE_RANGEFINDER}; + SUBSYSTEM_TYPE_RANGEFINDER + }; static orb_advert_t pub = -1; if (pub > 0) { orb_publish(ORB_ID(subsystem_info), pub, &info); + } else { pub = orb_advertise(ORB_ID(subsystem_info), &info); } @@ -583,8 +596,9 @@ MB12XX::cycle() } /* measurement phase */ - if (OK != measure()) + if (OK != measure()) { log("measure error"); + } /* next phase is collection */ _collect_phase = true; @@ -635,33 +649,37 @@ start() { int fd; - if (g_dev != nullptr) + if (g_dev != nullptr) { errx(1, "already started"); + } /* create the driver */ g_dev = new MB12XX(MB12XX_BUS); - if (g_dev == nullptr) + if (g_dev == nullptr) { goto fail; + } - if (OK != g_dev->init()) + if (OK != g_dev->init()) { goto fail; + } /* set the poll rate to default, starts automatic data collection */ fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { goto fail; + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { goto fail; + } exit(0); fail: - if (g_dev != nullptr) - { + if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; } @@ -674,15 +692,14 @@ fail: */ void stop() { - if (g_dev != nullptr) - { + if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; - } - else - { + + } else { errx(1, "driver not running"); } + exit(0); } @@ -700,22 +717,25 @@ test() int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { err(1, "%s open failed (try 'mb12xx start' if the driver is not running", RANGE_FINDER_DEVICE_PATH); + } /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); - if (sz != sizeof(report)) + if (sz != sizeof(report)) { err(1, "immediate read failed"); + } warnx("single read"); warnx("measurement: %0.2f m", (double)report.distance); warnx("time: %lld", report.timestamp); /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { errx(1, "failed to set 2Hz poll rate"); + } /* read the sensor 5x and report each value */ for (unsigned i = 0; i < 5; i++) { @@ -726,20 +746,27 @@ test() fds.events = POLLIN; ret = poll(&fds, 1, 2000); - if (ret != 1) + if (ret != 1) { errx(1, "timed out waiting for sensor data"); + } /* now go get it */ sz = read(fd, &report, sizeof(report)); - if (sz != sizeof(report)) + if (sz != sizeof(report)) { err(1, "periodic read failed"); + } warnx("periodic read %u", i); warnx("measurement: %0.3f", (double)report.distance); warnx("time: %lld", report.timestamp); } + /* reset the sensor polling to default rate */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { + errx(1, "failed to set default poll rate"); + } + errx(0, "PASS"); } @@ -751,14 +778,17 @@ reset() { int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { err(1, "failed "); + } - if (ioctl(fd, SENSORIOCRESET, 0) < 0) + if (ioctl(fd, SENSORIOCRESET, 0) < 0) { err(1, "driver reset failed"); + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { err(1, "driver poll restart failed"); + } exit(0); } @@ -769,8 +799,9 @@ reset() void info() { - if (g_dev == nullptr) + if (g_dev == nullptr) { errx(1, "driver not running"); + } printf("state @ %p\n", g_dev); g_dev->print_info(); @@ -786,32 +817,37 @@ mb12xx_main(int argc, char *argv[]) /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) + if (!strcmp(argv[1], "start")) { mb12xx::start(); - - /* - * Stop the driver - */ - if (!strcmp(argv[1], "stop")) - mb12xx::stop(); + } + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + mb12xx::stop(); + } /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) + if (!strcmp(argv[1], "test")) { mb12xx::test(); + } /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) + if (!strcmp(argv[1], "reset")) { mb12xx::reset(); + } /* * Print driver information. */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { mb12xx::info(); + } errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); } diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp index d43e3aef9e..5d1f58b854 100644 --- a/src/drivers/md25/md25.cpp +++ b/src/drivers/md25/md25.cpp @@ -52,7 +52,7 @@ #include #include -#include +#include #include #include @@ -587,7 +587,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu float prev_revolution = md25.getRevolutions1(); // debug publication - control::UOrbPublication debug_msg(NULL, + uORB::Publication debug_msg(NULL, ORB_ID(debug_key_value)); // sine wave for motor 1 diff --git a/src/drivers/md25/md25.hpp b/src/drivers/md25/md25.hpp index 1661f67f9a..962c6b881d 100644 --- a/src/drivers/md25/md25.hpp +++ b/src/drivers/md25/md25.hpp @@ -46,7 +46,7 @@ #include #include -#include +#include #include #include @@ -270,7 +270,7 @@ private: struct pollfd _controlPoll; /** actuator controls subscription */ - control::UOrbSubscription _actuators; + uORB::Subscription _actuators; // local copy of data from i2c device uint8_t _version; diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 06d89abf77..c0f3c28e0f 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -79,12 +79,15 @@ #include #include +#include + #include #include #include #include #include +#include #include @@ -99,12 +102,14 @@ #define ADDR_READ_MR 0x00 /* write to this address to start conversion */ /* Measurement rate is 100Hz */ +#define MEAS_RATE 100.0f +#define MEAS_DRIVER_FILTER_FREQ 3.0f #define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */ class MEASAirspeed : public Airspeed { public: - MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO, const char* path = PATH_MS4525); + MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO, const char *path = PATH_MS4525); protected: @@ -116,6 +121,15 @@ protected: virtual int measure(); virtual int collect(); + math::LowPassFilter2p _filter; + + /** + * Correct for 5V rail voltage variations + */ + void voltage_correction(float &diff_pres_pa, float &temperature); + + int _t_system_power; + struct system_power_s system_power; }; /* @@ -123,10 +137,12 @@ protected: */ extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]); -MEASAirspeed::MEASAirspeed(int bus, int address, const char* path) : Airspeed(bus, address, - CONVERSION_INTERVAL, path) +MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bus, address, + CONVERSION_INTERVAL, path), + _filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ), + _t_system_power(-1) { - + memset(&system_power, 0, sizeof(system_power)); } int @@ -161,23 +177,25 @@ MEASAirspeed::collect() ret = transfer(nullptr, 0, &val[0], 4); if (ret < 0) { - perf_count(_comms_errors); - perf_end(_sample_perf); + perf_count(_comms_errors); + perf_end(_sample_perf); return ret; } - uint8_t status = val[0] & 0xC0; + uint8_t status = (val[0] & 0xC0) >> 6; - if (status == 2) { - log("err: stale data"); - perf_count(_comms_errors); - perf_end(_sample_perf); - return ret; - } else if (status == 3) { - log("err: fault"); - perf_count(_comms_errors); - perf_end(_sample_perf); - return ret; + switch (status) { + case 0: + break; + + case 1: + /* fallthrough */ + case 2: + /* fallthrough */ + case 3: + perf_count(_comms_errors); + perf_end(_sample_perf); + return -EAGAIN; } int16_t dp_raw = 0, dT_raw = 0; @@ -186,28 +204,67 @@ MEASAirspeed::collect() dp_raw = 0x3FFF & dp_raw; dT_raw = (val[2] << 8) + val[3]; dT_raw = (0xFFE0 & dT_raw) >> 5; - float temperature = ((200 * dT_raw) / 2047) - 50; + float temperature = ((200.0f * dT_raw) / 2047) - 50; - /* calculate differential pressure. As its centered around 8000 - * and can go positive or negative, enforce absolute value - */ + // Calculate differential pressure. As its centered around 8000 + // and can go positive or negative const float P_min = -1.0f; const float P_max = 1.0f; - float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset; - if (diff_press_pa < 0.0f) - diff_press_pa = 0.0f; + const float PSI_to_Pa = 6894.757f; + /* + this equation is an inversion of the equation in the + pressure transfer function figure on page 4 of the datasheet + We negate the result so that positive differential pressures + are generated when the bottom port is used as the static + port on the pitot and top port is used as the dynamic port + */ + float diff_press_PSI = -((dp_raw - 0.1f*16383) * (P_max-P_min)/(0.8f*16383) + P_min); + float diff_press_pa_raw = diff_press_PSI * PSI_to_Pa; + + // correct for 5V rail voltage if possible + voltage_correction(diff_press_pa_raw, temperature); + + float diff_press_pa = fabsf(diff_press_pa_raw - _diff_pres_offset); + + /* + note that we return both the absolute value with offset + applied and a raw value without the offset applied. This + makes it possible for higher level code to detect if the + user has the tubes connected backwards, and also makes it + possible to correctly use offsets calculated by a higher + level airspeed driver. + + With the above calculation the MS4525 sensor will produce a + positive number when the top port is used as a dynamic port + and bottom port is used as the static port + + Also note that the _diff_pres_offset is applied before the + fabsf() not afterwards. It needs to be done this way to + prevent a bias at low speeds, but this also means that when + setting a offset you must set it based on the raw value, not + the offset value + */ + struct differential_pressure_s report; /* track maximum differential pressure measured (so we can work out top speed). */ if (diff_press_pa > _max_differential_pressure_pa) { - _max_differential_pressure_pa = diff_press_pa; + _max_differential_pressure_pa = diff_press_pa; } report.timestamp = hrt_absolute_time(); - report.error_count = perf_event_count(_comms_errors); + report.error_count = perf_event_count(_comms_errors); report.temperature = temperature; report.differential_pressure_pa = diff_press_pa; + report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa); + + /* the dynamics of the filter can make it overshoot into the negative range */ + if (report.differential_pressure_filtered_pa < 0.0f) { + report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa); + } + + report.differential_pressure_raw_pa = diff_press_pa_raw; report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; @@ -231,13 +288,17 @@ MEASAirspeed::collect() void MEASAirspeed::cycle() { + int ret; + /* collection phase? */ if (_collect_phase) { /* perform collection */ - if (OK != collect()) { + ret = collect(); + if (OK != ret) { /* restart the measurement state machine */ start(); + _sensor_ok = false; return; } @@ -261,8 +322,12 @@ MEASAirspeed::cycle() } /* measurement phase */ - if (OK != measure()) - log("measure error"); + ret = measure(); + if (OK != ret) { + debug("measure error"); + } + + _sensor_ok = (ret == OK); /* next phase is collection */ _collect_phase = true; @@ -275,6 +340,62 @@ MEASAirspeed::cycle() USEC2TICK(CONVERSION_INTERVAL)); } +/** + correct for 5V rail voltage if the system_power ORB topic is + available + + See http://uav.tridgell.net/MS4525/MS4525-offset.png for a graph of + offset versus voltage for 3 sensors + */ +void +MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature) +{ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + if (_t_system_power == -1) { + _t_system_power = orb_subscribe(ORB_ID(system_power)); + } + if (_t_system_power == -1) { + // not available + return; + } + bool updated = false; + orb_check(_t_system_power, &updated); + if (updated) { + orb_copy(ORB_ID(system_power), _t_system_power, &system_power); + } + if (system_power.voltage5V_v < 3.0f || system_power.voltage5V_v > 6.0f) { + // not valid, skip correction + return; + } + + const float slope = 65.0f; + /* + apply a piecewise linear correction, flattening at 0.5V from 5V + */ + float voltage_diff = system_power.voltage5V_v - 5.0f; + if (voltage_diff > 0.5f) { + voltage_diff = 0.5f; + } + if (voltage_diff < -0.5f) { + voltage_diff = -0.5f; + } + diff_press_pa -= voltage_diff * slope; + + /* + the temperature masurement varies as well + */ + const float temp_slope = 0.887f; + voltage_diff = system_power.voltage5V_v - 5.0f; + if (voltage_diff > 0.5f) { + voltage_diff = 0.5f; + } + if (voltage_diff < -1.0f) { + voltage_diff = -1.0f; + } + temperature -= voltage_diff * temp_slope; +#endif // CONFIG_ARCH_BOARD_PX4FMU_V2 +} + /** * Local functions in support of the shell command. */ @@ -303,15 +424,17 @@ start(int i2c_bus) { int fd; - if (g_dev != nullptr) + if (g_dev != nullptr) { errx(1, "already started"); + } /* create the driver, try the MS4525DO first */ g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO, PATH_MS4525); /* check if the MS4525DO was instantiated */ - if (g_dev == nullptr) + if (g_dev == nullptr) { goto fail; + } /* try the MS5525DSO next if init fails */ if (OK != g_dev->Airspeed::init()) { @@ -319,22 +442,26 @@ start(int i2c_bus) g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS5525DSO, PATH_MS5525); /* check if the MS5525DSO was instantiated */ - if (g_dev == nullptr) + if (g_dev == nullptr) { goto fail; + } /* both versions failed if the init for the MS5525DSO fails, give up */ - if (OK != g_dev->Airspeed::init()) + if (OK != g_dev->Airspeed::init()) { goto fail; + } } /* set the poll rate to default, starts automatic data collection */ fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { goto fail; + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { goto fail; + } exit(0); @@ -345,7 +472,7 @@ fail: g_dev = nullptr; } - errx(1, "driver start failed"); + errx(1, "no MS4525 airspeed sensor connected"); } /** @@ -379,21 +506,24 @@ test() int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { err(1, "%s open failed (try 'meas_airspeed start' if the driver is not running", AIRSPEED_DEVICE_PATH); + } /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); - if (sz != sizeof(report)) + if (sz != sizeof(report)) { err(1, "immediate read failed"); + } warnx("single read"); - warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa); + warnx("diff pressure: %d pa", (int)report.differential_pressure_pa); /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { errx(1, "failed to set 2Hz poll rate"); + } /* read the sensor 5x and report each value */ for (unsigned i = 0; i < 5; i++) { @@ -404,23 +534,26 @@ test() fds.events = POLLIN; ret = poll(&fds, 1, 2000); - if (ret != 1) + if (ret != 1) { errx(1, "timed out waiting for sensor data"); + } /* now go get it */ sz = read(fd, &report, sizeof(report)); - if (sz != sizeof(report)) + if (sz != sizeof(report)) { err(1, "periodic read failed"); + } warnx("periodic read %u", i); - warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa); + warnx("diff pressure: %d pa", (int)report.differential_pressure_pa); warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature); } /* reset the sensor polling to its default rate */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { errx(1, "failed to set default rate"); + } errx(0, "PASS"); } @@ -433,14 +566,17 @@ reset() { int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { err(1, "failed "); + } - if (ioctl(fd, SENSORIOCRESET, 0) < 0) + if (ioctl(fd, SENSORIOCRESET, 0) < 0) { err(1, "driver reset failed"); + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { err(1, "driver poll restart failed"); + } exit(0); } @@ -451,8 +587,9 @@ reset() void info() { - if (g_dev == nullptr) + if (g_dev == nullptr) { errx(1, "driver not running"); + } printf("state @ %p\n", g_dev); g_dev->print_info(); @@ -491,32 +628,37 @@ meas_airspeed_main(int argc, char *argv[]) /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) + if (!strcmp(argv[1], "start")) { meas_airspeed::start(i2c_bus); + } /* * Stop the driver */ - if (!strcmp(argv[1], "stop")) + if (!strcmp(argv[1], "stop")) { meas_airspeed::stop(); + } /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) + if (!strcmp(argv[1], "test")) { meas_airspeed::test(); + } /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) + if (!strcmp(argv[1], "reset")) { meas_airspeed::reset(); + } /* * Print driver information. */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { meas_airspeed::info(); + } meas_airspeed_usage(); exit(0); diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 705e98eea4..5954c40da0 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -92,8 +92,20 @@ #define MOTOR_SPINUP_COUNTER 30 #define ESC_UORB_PUBLISH_DELAY 500000 - - +struct MotorData_t { + unsigned int Version; // the version of the BL (0 = old) + unsigned int SetPoint; // written by attitude controller + unsigned int SetPointLowerBits; // for higher Resolution of new BLs + float SetPoint_PX4; // Values from PX4 + unsigned int State; // 7 bit for I2C error counter, highest bit indicates if motor is present + unsigned int ReadMode; // select data to read + unsigned short RawPwmValue; // length of PWM pulse + // the following bytes must be exactly in that order! + unsigned int Current; // in 0.1 A steps, read back from BL + unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit + unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in + unsigned int RoundCount; +}; class MK : public device::I2C { @@ -154,8 +166,10 @@ private: actuator_controls_s _controls; + MotorData_t Motor[MAX_MOTORS]; + static void task_main_trampoline(int argc, char *argv[]); - void task_main() __attribute__((noreturn)); + void task_main(); static int control_callback(uintptr_t handle, uint8_t control_group, @@ -195,24 +209,6 @@ const int blctrlAddr_px4[] = { 0, 0, 0, 0, 0, 0, 0, 0}; int addrTranslator[] = {0, 0, 0, 0, 0, 0, 0, 0}; -struct MotorData_t { - unsigned int Version; // the version of the BL (0 = old) - unsigned int SetPoint; // written by attitude controller - unsigned int SetPointLowerBits; // for higher Resolution of new BLs - float SetPoint_PX4; // Values from PX4 - unsigned int State; // 7 bit for I2C error counter, highest bit indicates if motor is present - unsigned int ReadMode; // select data to read - unsigned short RawPwmValue; // length of PWM pulse - // the following bytes must be exactly in that order! - unsigned int Current; // in 0.1 A steps, read back from BL - unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit - unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in - unsigned int RoundCount; -}; - -MotorData_t Motor[MAX_MOTORS]; - - namespace { @@ -1015,7 +1011,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1): /* copy the current output value from the channel */ - *(servo_position_t *)arg = Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue; + *(servo_position_t *)arg = Motor[cmd - PWM_SERVO_GET(0)].RawPwmValue; break; diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 0ef056273f..3fe1b0abcb 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -526,6 +526,7 @@ void MS5611::cycle() { int ret; + unsigned dummy; /* collection phase? */ if (_collect_phase) { @@ -542,6 +543,8 @@ MS5611::cycle() } else { //log("collection error %d", ret); } + /* issue a reset command to the sensor */ + _interface->ioctl(IOCTL_RESET, dummy); /* reset the collection state machine and try again */ start_cycle(); return; @@ -573,6 +576,8 @@ MS5611::cycle() ret = measure(); if (ret != OK) { //log("measure error %d", ret); + /* issue a reset command to the sensor */ + _interface->ioctl(IOCTL_RESET, dummy); /* reset the collection state machine and try again */ start_cycle(); return; diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp index 26216e840f..8759d16a16 100644 --- a/src/drivers/ms5611/ms5611_spi.cpp +++ b/src/drivers/ms5611/ms5611_spi.cpp @@ -117,7 +117,7 @@ private: device::Device * MS5611_spi_interface(ms5611::prom_u &prom_buf) { - return new MS5611_SPI(1 /* XXX MAGIC NUMBER */, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf); + return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf); } MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) : diff --git a/src/modules/fixedwing_pos_control/module.mk b/src/drivers/px4flow/module.mk similarity index 89% rename from src/modules/fixedwing_pos_control/module.mk rename to src/drivers/px4flow/module.mk index b976377e93..d3062e4579 100644 --- a/src/modules/fixedwing_pos_control/module.mk +++ b/src/drivers/px4flow/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,9 +32,9 @@ ############################################################################ # -# Fixedwing PositionControl application +# Makefile to build the PX4FLOW driver. # -MODULE_COMMAND = fixedwing_pos_control +MODULE_COMMAND = px4flow -SRCS = fixedwing_pos_control_main.c +SRCS = px4flow.cpp diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp new file mode 100644 index 0000000000..f214b5964f --- /dev/null +++ b/src/drivers/px4flow/px4flow.cpp @@ -0,0 +1,806 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * 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 px4flow.cpp + * @author Dominik Honegger + * + * Driver for the PX4FLOW module connected via I2C. + */ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include + +#include +#include +//#include + +#include + +/* Configuration Constants */ +#define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION +#define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84 +//range 0x42 - 0x49 + +/* PX4FLOW Registers addresses */ +#define PX4FLOW_REG 0x00 /* Measure Register */ + +#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +//struct i2c_frame +//{ +// uint16_t frame_count; +// int16_t pixel_flow_x_sum; +// int16_t pixel_flow_y_sum; +// int16_t flow_comp_m_x; +// int16_t flow_comp_m_y; +// int16_t qual; +// int16_t gyro_x_rate; +// int16_t gyro_y_rate; +// int16_t gyro_z_rate; +// uint8_t gyro_range; +// uint8_t sonar_timestamp; +// int16_t ground_distance; +//}; +// +//struct i2c_frame f; + +class PX4FLOW : public device::I2C +{ +public: + PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS); + virtual ~PX4FLOW(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + + work_s _work; + RingBuffer *_reports; + bool _sensor_ok; + int _measure_ticks; + bool _collect_phase; + + orb_advert_t _px4flow_topic; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + /** + * Test whether the device supported by the driver is present at a + * specific address. + * + * @param address The I2C bus address to probe. + * @return True if the device is present. + */ + int probe_address(uint8_t address); + + /** + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void cycle(); + int measure(); + int collect(); + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + +}; + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int px4flow_main(int argc, char *argv[]); + +PX4FLOW::PX4FLOW(int bus, int address) : + I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000),//400khz + _reports(nullptr), + _sensor_ok(false), + _measure_ticks(0), + _collect_phase(false), + _px4flow_topic(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")), + _comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")) +{ + // enable debug() calls + _debug_enabled = true; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +PX4FLOW::~PX4FLOW() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) + delete _reports; +} + +int +PX4FLOW::init() +{ + int ret = ERROR; + + /* do I2C init (and probe) first */ + if (I2C::init() != OK) + goto out; + + /* allocate basic report buffers */ + _reports = new RingBuffer(2, sizeof(px4flow_report)); + + if (_reports == nullptr) + goto out; + + /* get a publish handle on the px4flow topic */ + struct px4flow_report zero_report; + memset(&zero_report, 0, sizeof(zero_report)); + _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report); + + if (_px4flow_topic < 0) + debug("failed to create px4flow object. Did you start uOrb?"); + + ret = OK; + /* sensor is ok, but we don't really know if it is within range */ + _sensor_ok = true; +out: + return ret; +} + +int +PX4FLOW::probe() +{ + return measure(); +} + +int +PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _measure_ticks = 0; + return OK; + + /* external signalling (DRDY) not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL); + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* convert hz to tick interval via microseconds */ + unsigned ticks = USEC2TICK(1000000 / arg); + + /* check against maximum rate */ + if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) + return -EINVAL; + + /* update interval for next measurement */ + _measure_ticks = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_measure_ticks == 0) + return SENSOR_POLLRATE_MANUAL; + + return (1000 / _measure_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) + return -EINVAL; + + irqstate_t flags = irqsave(); + if (!_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + irqrestore(flags); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _reports->size(); + + case SENSORIOCRESET: + /* XXX implement this */ + return -EINVAL; + + default: + /* give it to the superclass */ + return I2C::ioctl(filp, cmd, arg); + } +} + +ssize_t +PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct px4flow_report); + struct px4flow_report *rbuf = reinterpret_cast(buffer); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_measure_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_reports->get(rbuf)) { + ret += sizeof(*rbuf); + rbuf++; + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + do { + _reports->flush(); + + /* trigger a measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + /* wait for it to complete */ + usleep(PX4FLOW_CONVERSION_INTERVAL); + + /* run the collection phase */ + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + if (_reports->get(rbuf)) { + ret = sizeof(*rbuf); + } + + } while (0); + + return ret; +} + +int +PX4FLOW::measure() +{ + int ret; + + /* + * Send the command to begin a measurement. + */ + uint8_t cmd = PX4FLOW_REG; + ret = transfer(&cmd, 1, nullptr, 0); + + if (OK != ret) + { + perf_count(_comms_errors); + log("i2c::transfer returned %d", ret); + printf("i2c::transfer flow returned %d"); + return ret; + } + ret = OK; + + return ret; +} + +int +PX4FLOW::collect() +{ + int ret = -EIO; + + /* read from the sensor */ + uint8_t val[22] = {0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0}; + + perf_begin(_sample_perf); + + ret = transfer(nullptr, 0, &val[0], 22); + + if (ret < 0) + { + log("error reading from sensor: %d", ret); + perf_count(_comms_errors); + perf_end(_sample_perf); + return ret; + } + +// f.frame_count = val[1] << 8 | val[0]; +// f.pixel_flow_x_sum= val[3] << 8 | val[2]; +// f.pixel_flow_y_sum= val[5] << 8 | val[4]; +// f.flow_comp_m_x= val[7] << 8 | val[6]; +// f.flow_comp_m_y= val[9] << 8 | val[8]; +// f.qual= val[11] << 8 | val[10]; +// f.gyro_x_rate= val[13] << 8 | val[12]; +// f.gyro_y_rate= val[15] << 8 | val[14]; +// f.gyro_z_rate= val[17] << 8 | val[16]; +// f.gyro_range= val[18]; +// f.sonar_timestamp= val[19]; +// f.ground_distance= val[21] << 8 | val[20]; + + int16_t flowcx = val[7] << 8 | val[6]; + int16_t flowcy = val[9] << 8 | val[8]; + int16_t gdist = val[21] << 8 | val[20]; + + struct px4flow_report report; + report.flow_comp_x_m = float(flowcx)/1000.0f; + report.flow_comp_y_m = float(flowcy)/1000.0f; + report.flow_raw_x= val[3] << 8 | val[2]; + report.flow_raw_y= val[5] << 8 | val[4]; + report.ground_distance_m =float(gdist)/1000.0f; + report.quality= val[10]; + report.sensor_id = 0; + report.timestamp = hrt_absolute_time(); + + + /* publish it */ + orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report); + + /* post a report to the ring */ + if (_reports->force(&report)) { + perf_count(_buffer_overflows); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + ret = OK; + + perf_end(_sample_perf); + return ret; +} + +void +PX4FLOW::start() +{ + /* reset the report ring and state machine */ + _collect_phase = false; + _reports->flush(); + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, 1); + + /* notify about state change */ + struct subsystem_info_s info = { + true, + true, + true, + SUBSYSTEM_TYPE_OPTICALFLOW}; + static orb_advert_t pub = -1; + + if (pub > 0) { + orb_publish(ORB_ID(subsystem_info), pub, &info); + } else { + pub = orb_advertise(ORB_ID(subsystem_info), &info); + } +} + +void +PX4FLOW::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +PX4FLOW::cycle_trampoline(void *arg) +{ + PX4FLOW *dev = (PX4FLOW *)arg; + + dev->cycle(); +} + +void +PX4FLOW::cycle() +{ + /* collection phase? */ + if (_collect_phase) { + + /* perform collection */ + if (OK != collect()) { + log("collection error"); + /* restart the measurement state machine */ + start(); + return; + } + + /* next phase is measurement */ + _collect_phase = false; + + /* + * Is there a collect->measure gap? + */ + if (_measure_ticks > USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) { + + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&PX4FLOW::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)); + + return; + } + } + + /* measurement phase */ + if (OK != measure()) + log("measure error"); + + /* next phase is collection */ + _collect_phase = true; + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, + &_work, + (worker_t)&PX4FLOW::cycle_trampoline, + this, + USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)); +} + +void +PX4FLOW::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + _reports->print_info("report queue"); +} + +/** + * Local functions in support of the shell command. + */ +namespace px4flow +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +PX4FLOW *g_dev; + +void start(); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new PX4FLOW(PX4FLOW_BUS); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) + goto fail; + + exit(0); + +fail: + + if (g_dev != nullptr) + { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver + */ +void stop() +{ + if (g_dev != nullptr) + { + delete g_dev; + g_dev = nullptr; + } + else + { + errx(1, "driver not running"); + } + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + struct px4flow_report report; + ssize_t sz; + int ret; + + int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH); + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + // err(1, "immediate read failed"); + + warnx("single read"); + warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); + warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m); + warnx("time: %lld", report.timestamp); + + + /* start the sensor polling at 2Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) + errx(1, "failed to set 2Hz poll rate"); + + /* read the sensor 5x and report each value */ + for (unsigned i = 0; i < 5; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = poll(&fds, 1, 2000); + + if (ret != 1) + errx(1, "timed out waiting for sensor data"); + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "periodic read failed"); + + warnx("periodic read %u", i); + warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); + warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m); + warnx("time: %lld", report.timestamp); + + + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "driver poll restart failed"); + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} // namespace + +int +px4flow_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) + px4flow::start(); + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) + px4flow::stop(); + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + px4flow::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + px4flow::reset(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + px4flow::info(); + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index a70ff6c5c5..fd69cf795b 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -92,6 +92,7 @@ public: MODE_2PWM, MODE_4PWM, MODE_6PWM, + MODE_8PWM, }; PX4FMU(); virtual ~PX4FMU(); @@ -113,6 +114,9 @@ private: #if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) static const unsigned _max_actuators = 6; #endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + static const unsigned _max_actuators = 8; +#endif Mode _mode; unsigned _pwm_default_rate; @@ -120,19 +124,25 @@ private: uint32_t _pwm_alt_rate_channels; unsigned _current_update_rate; int _task; - int _t_actuators; - int _t_actuator_armed; - orb_advert_t _t_outputs; + int _armed_sub; + orb_advert_t _outputs_pub; + actuator_armed_s _armed; unsigned _num_outputs; bool _primary_pwm_device; volatile bool _task_should_exit; - bool _armed; + bool _servo_armed; bool _pwm_on; MixerGroup *_mixers; - actuator_controls_s _controls; + uint32_t _groups_required; + uint32_t _groups_subscribed; + int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS]; + actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS]; + orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS]; + pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS]; + unsigned _poll_fds_num; pwm_limit_t _pwm_limit; uint16_t _failsafe_pwm[_max_actuators]; @@ -143,13 +153,13 @@ private: unsigned _num_disarmed_set; static void task_main_trampoline(int argc, char *argv[]); - void task_main() __attribute__((noreturn)); + void task_main(); static int control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input); - + void subscribe(); int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate); int pwm_ioctl(file *filp, int cmd, unsigned long arg); @@ -197,6 +207,20 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { {GPIO_VDD_5V_HIPOWER_OC, 0, 0}, {GPIO_VDD_5V_PERIPH_OC, 0, 0}, #endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + /* AeroCore breaks out User GPIOs on J11 */ + {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, + {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, + {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, + {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, + {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, + {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, 0}, + {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, 0}, + {GPIO_GPIO8_INPUT, GPIO_GPIO8_OUTPUT, 0}, + {GPIO_GPIO9_INPUT, GPIO_GPIO9_OUTPUT, 0}, + {GPIO_GPIO10_INPUT, GPIO_GPIO10_OUTPUT, 0}, + {GPIO_GPIO11_INPUT, GPIO_GPIO11_OUTPUT, 0}, +#endif }; const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]); @@ -216,15 +240,18 @@ PX4FMU::PX4FMU() : _pwm_alt_rate_channels(0), _current_update_rate(0), _task(-1), - _t_actuators(-1), - _t_actuator_armed(-1), - _t_outputs(0), + _control_subs({-1}), + _poll_fds_num(0), + _armed_sub(-1), + _outputs_pub(-1), _num_outputs(0), _primary_pwm_device(false), _task_should_exit(false), - _armed(false), + _servo_armed(false), _pwm_on(false), _mixers(nullptr), + _groups_required(0), + _groups_subscribed(0), _failsafe_pwm({0}), _disarmed_pwm({0}), _num_failsafe_set(0), @@ -235,6 +262,14 @@ PX4FMU::PX4FMU() : _max_pwm[i] = PWM_DEFAULT_MAX; } + _control_topics[0] = ORB_ID(actuator_controls_0); + _control_topics[1] = ORB_ID(actuator_controls_1); + _control_topics[2] = ORB_ID(actuator_controls_2); + _control_topics[3] = ORB_ID(actuator_controls_3); + + memset(_controls, 0, sizeof(_controls)); + memset(_poll_fds, 0, sizeof(_poll_fds)); + _debug_enabled = true; } @@ -365,6 +400,20 @@ PX4FMU::set_mode(Mode mode) break; +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case MODE_8PWM: // AeroCore PWMs as 8 PWM outs + debug("MODE_8PWM"); + /* default output rates */ + _pwm_default_rate = 50; + _pwm_alt_rate = 50; + _pwm_alt_rate_channels = 0; + + /* XXX magic numbers */ + up_pwm_servo_init(0xff); + set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); + break; +#endif + case MODE_NONE: debug("MODE_NONE"); @@ -447,33 +496,43 @@ PX4FMU::set_pwm_alt_channels(uint32_t channels) return set_pwm_rate(channels, _pwm_default_rate, _pwm_alt_rate); } +void +PX4FMU::subscribe() +{ + /* subscribe/unsubscribe to required actuator control groups */ + uint32_t sub_groups = _groups_required & ~_groups_subscribed; + uint32_t unsub_groups = _groups_subscribed & ~_groups_required; + _poll_fds_num = 0; + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + if (sub_groups & (1 << i)) { + warnx("subscribe to actuator_controls_%d", i); + _control_subs[i] = orb_subscribe(_control_topics[i]); + } + if (unsub_groups & (1 << i)) { + warnx("unsubscribe from actuator_controls_%d", i); + ::close(_control_subs[i]); + _control_subs[i] = -1; + } + + if (_control_subs[i] > 0) { + _poll_fds[_poll_fds_num].fd = _control_subs[i]; + _poll_fds[_poll_fds_num].events = POLLIN; + _poll_fds_num++; + } + } +} + void PX4FMU::task_main() { - /* - * Subscribe to the appropriate PWM output topic based on whether we are the - * primary PWM output or not. - */ - _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - ORB_ID(actuator_controls_1)); /* force a reset of the update rate */ _current_update_rate = 0; - _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */ + _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); /* advertise the mixed control outputs */ actuator_outputs_s outputs; memset(&outputs, 0, sizeof(outputs)); - /* advertise the mixed control outputs */ - _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), - &outputs); - - pollfd fds[2]; - fds[0].fd = _t_actuators; - fds[0].events = POLLIN; - fds[1].fd = _t_actuator_armed; - fds[1].events = POLLIN; #ifdef HRT_PPM_CHANNEL // rc input, published to ORB @@ -491,6 +550,12 @@ PX4FMU::task_main() /* loop until killed */ while (!_task_should_exit) { + if (_groups_subscribed != _groups_required) { + subscribe(); + _groups_subscribed = _groups_required; + /* force setting update rate */ + _current_update_rate = 0; + } /* * Adjust actuator topic update rate to keep up with @@ -515,20 +580,23 @@ PX4FMU::task_main() } debug("adjusted actuator update interval to %ums", update_rate_in_ms); - orb_set_interval(_t_actuators, update_rate_in_ms); + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + if (_control_subs[i] > 0) { + orb_set_interval(_control_subs[i], update_rate_in_ms); + } + } // set to current max rate, even if we are actually checking slower/faster _current_update_rate = max_rate; } /* sleep waiting for data, stopping to check for PPM - * input at 100Hz */ - int ret = ::poll(&fds[0], 2, CONTROL_INPUT_DROP_LIMIT_MS); + * input at 50Hz */ + int ret = ::poll(_poll_fds, _poll_fds_num, CONTROL_INPUT_DROP_LIMIT_MS); /* this would be bad... */ if (ret < 0) { log("poll error %d", errno); - usleep(1000000); continue; } else if (ret == 0) { @@ -537,89 +605,101 @@ PX4FMU::task_main() } else { - /* do we have a control update? */ - if (fds[0].revents & POLLIN) { - - /* get controls - must always do this to avoid spinning */ - orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls); - - /* can we mix? */ - if (_mixers != nullptr) { - - unsigned num_outputs; - - switch (_mode) { - case MODE_2PWM: - num_outputs = 2; - break; - - case MODE_4PWM: - num_outputs = 4; - break; - - case MODE_6PWM: - num_outputs = 6; - break; - - default: - num_outputs = 0; - break; + /* get controls for required topics */ + unsigned poll_id = 0; + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + if (_control_subs[i] > 0) { + if (_poll_fds[poll_id].revents & POLLIN) { + orb_copy(_control_topics[i], _control_subs[i], &_controls[i]); } - - /* do mixing */ - outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); - outputs.timestamp = hrt_absolute_time(); - - /* iterate actuators */ - for (unsigned i = 0; i < num_outputs; i++) { - /* last resort: catch NaN, INF and out-of-band errors */ - if (i >= outputs.noutputs || - !isfinite(outputs.output[i]) || - outputs.output[i] < -1.0f || - outputs.output[i] > 1.0f) { - /* - * Value is NaN, INF or out of band - set to the minimum value. - * This will be clearly visible on the servo status and will limit the risk of accidentally - * spinning motors. It would be deadly in flight. - */ - outputs.output[i] = -1.0f; - } - } - - uint16_t pwm_limited[num_outputs]; - - pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit); - - /* output to the servos */ - for (unsigned i = 0; i < num_outputs; i++) { - up_pwm_servo_set(i, pwm_limited[i]); - } - - /* and publish for anyone that cares to see */ - orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs); + poll_id++; } } - /* how about an arming update? */ - if (fds[1].revents & POLLIN) { - actuator_armed_s aa; + /* can we mix? */ + if (_mixers != nullptr) { - /* get new value */ - orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &aa); + unsigned num_outputs; - /* update the armed status and check that we're not locked down */ - bool set_armed = aa.armed && !aa.lockdown; + switch (_mode) { + case MODE_2PWM: + num_outputs = 2; + break; - if (_armed != set_armed) - _armed = set_armed; + case MODE_4PWM: + num_outputs = 4; + break; - /* update PWM status if armed or if disarmed PWM values are set */ - bool pwm_on = (aa.armed || _num_disarmed_set > 0); + case MODE_6PWM: + num_outputs = 6; + break; - if (_pwm_on != pwm_on) { - _pwm_on = pwm_on; - up_pwm_servo_arm(pwm_on); + case MODE_8PWM: + num_outputs = 8; + break; + default: + num_outputs = 0; + break; } + + /* do mixing */ + outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); + outputs.timestamp = hrt_absolute_time(); + + /* iterate actuators */ + for (unsigned i = 0; i < num_outputs; i++) { + /* last resort: catch NaN, INF and out-of-band errors */ + if (i >= outputs.noutputs || + !isfinite(outputs.output[i]) || + outputs.output[i] < -1.0f || + outputs.output[i] > 1.0f) { + /* + * Value is NaN, INF or out of band - set to the minimum value. + * This will be clearly visible on the servo status and will limit the risk of accidentally + * spinning motors. It would be deadly in flight. + */ + outputs.output[i] = -1.0f; + } + } + + uint16_t pwm_limited[num_outputs]; + + pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit); + + /* output to the servos */ + for (unsigned i = 0; i < num_outputs; i++) { + up_pwm_servo_set(i, pwm_limited[i]); + } + + /* publish mixed control outputs */ + if (_outputs_pub < 0) { + _outputs_pub = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), &outputs); + } else { + + orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _outputs_pub, &outputs); + } + } + } + + /* check arming state */ + bool updated = false; + orb_check(_armed_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); + + /* update the armed status and check that we're not locked down */ + bool set_armed = _armed.armed && !_armed.lockdown; + + if (_servo_armed != set_armed) + _servo_armed = set_armed; + + /* update PWM status if armed or if disarmed PWM values are set */ + bool pwm_on = (_armed.armed || _num_disarmed_set > 0); + + if (_pwm_on != pwm_on) { + _pwm_on = pwm_on; + up_pwm_servo_arm(pwm_on); } } @@ -661,8 +741,13 @@ PX4FMU::task_main() } - ::close(_t_actuators); - ::close(_t_actuator_armed); + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + if (_control_subs > 0) { + ::close(_control_subs[i]); + _control_subs[i] = -1; + } + } + ::close(_armed_sub); /* make sure servos are off */ up_pwm_servo_deinit(); @@ -684,7 +769,7 @@ PX4FMU::control_callback(uintptr_t handle, { const actuator_controls_s *controls = (actuator_controls_s *)handle; - input = controls->control[control_index]; + input = controls[control_group].control[control_index]; return 0; } @@ -707,6 +792,9 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) case MODE_2PWM: case MODE_4PWM: case MODE_6PWM: +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case MODE_8PWM: +#endif ret = pwm_ioctl(filp, cmd, arg); break; @@ -736,6 +824,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_SET_ARM_OK: case PWM_SERVO_CLEAR_ARM_OK: + case PWM_SERVO_SET_FORCE_SAFETY_OFF: // these are no-ops, as no safety switch break; @@ -935,6 +1024,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; } +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case PWM_SERVO_SET(7): + case PWM_SERVO_SET(6): + if (_mode < MODE_8PWM) { + ret = -EINVAL; + break; + } +#endif + case PWM_SERVO_SET(5): case PWM_SERVO_SET(4): if (_mode < MODE_6PWM) { @@ -962,6 +1060,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case PWM_SERVO_GET(7): + case PWM_SERVO_GET(6): + if (_mode < MODE_8PWM) { + ret = -EINVAL; + break; + } +#endif + case PWM_SERVO_GET(5): case PWM_SERVO_GET(4): if (_mode < MODE_6PWM) { @@ -989,12 +1096,22 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_GET_RATEGROUP(3): case PWM_SERVO_GET_RATEGROUP(4): case PWM_SERVO_GET_RATEGROUP(5): +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case PWM_SERVO_GET_RATEGROUP(6): + case PWM_SERVO_GET_RATEGROUP(7): +#endif *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0)); break; case PWM_SERVO_GET_COUNT: case MIXERIOCGETOUTPUTCOUNT: switch (_mode) { +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case MODE_8PWM: + *(unsigned *)arg = 8; + break; +#endif + case MODE_6PWM: *(unsigned *)arg = 6; break; @@ -1040,6 +1157,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) set_mode(MODE_6PWM); break; #endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + case 8: + set_mode(MODE_8PWM); + break; +#endif default: ret = -EINVAL; @@ -1052,6 +1174,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) if (_mixers != nullptr) { delete _mixers; _mixers = nullptr; + _groups_required = 0; } break; @@ -1060,18 +1183,20 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) mixer_simple_s *mixinfo = (mixer_simple_s *)arg; SimpleMixer *mixer = new SimpleMixer(control_callback, - (uintptr_t)&_controls, mixinfo); + (uintptr_t)_controls, mixinfo); if (mixer->check()) { delete mixer; + _groups_required = 0; ret = -EINVAL; } else { if (_mixers == nullptr) _mixers = new MixerGroup(control_callback, - (uintptr_t)&_controls); + (uintptr_t)_controls); _mixers->add_mixer(mixer); + _mixers->groups_required(_groups_required); } break; @@ -1082,9 +1207,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) unsigned buflen = strnlen(buf, 1024); if (_mixers == nullptr) - _mixers = new MixerGroup(control_callback, (uintptr_t)&_controls); + _mixers = new MixerGroup(control_callback, (uintptr_t)_controls); if (_mixers == nullptr) { + _groups_required = 0; ret = -ENOMEM; } else { @@ -1095,7 +1221,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) debug("mixer load failed with %d", ret); delete _mixers; _mixers = nullptr; + _groups_required = 0; ret = -EINVAL; + } else { + + _mixers->groups_required(_groups_required); } } @@ -1122,10 +1252,17 @@ PX4FMU::write(file *filp, const char *buffer, size_t len) unsigned count = len / 2; uint16_t values[6]; +#ifdef CONFIG_ARCH_BOARD_AEROCORE + if (count > 8) { + // we have at most 8 outputs + count = 8; + } +#else if (count > 6) { // we have at most 6 outputs count = 6; } +#endif // allow for misaligned values memcpy(values, buffer, count * 2); @@ -1399,6 +1536,9 @@ fmu_new_mode(PortMode new_mode) #endif #if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) servo_mode = PX4FMU::MODE_6PWM; +#endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + servo_mode = PX4FMU::MODE_8PWM; #endif break; @@ -1717,7 +1857,7 @@ fmu_main(int argc, char *argv[]) fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb); #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n"); -#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) +#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_AEROCORE) fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds]\n"); #endif exit(1); diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk index 05bc7a5b33..eeb59e1a1f 100644 --- a/src/drivers/px4fmu/module.mk +++ b/src/drivers/px4fmu/module.mk @@ -4,3 +4,5 @@ MODULE_COMMAND = fmu SRCS = fmu.cpp + +MODULE_STACKSIZE = 1200 diff --git a/src/drivers/px4io/module.mk b/src/drivers/px4io/module.mk index 2054faa127..c14f1f7836 100644 --- a/src/drivers/px4io/module.mk +++ b/src/drivers/px4io/module.mk @@ -44,3 +44,5 @@ SRCS = px4io.cpp \ # XXX prune to just get UART registers INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common + +MODULE_STACKSIZE = 1200 diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 7c7b3dcb7d..4099e55226 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -91,6 +91,8 @@ #include "uploader.h" +#include "modules/dataman/dataman.h" + extern device::Device *PX4IO_i2c_interface() weak_function; extern device::Device *PX4IO_serial_interface() weak_function; @@ -527,6 +529,11 @@ PX4IO::~PX4IO() if (_interface != nullptr) delete _interface; + /* deallocate perfs */ + perf_free(_perf_update); + perf_free(_perf_write); + perf_free(_perf_chan_count); + g_dev = nullptr; } @@ -568,9 +575,15 @@ int PX4IO::init() { int ret; + param_t sys_restart_param; + int sys_restart_val = DM_INIT_REASON_VOLATILE; ASSERT(_task == -1); + sys_restart_param = param_find("SYS_RESTART_TYPE"); + /* Indicate restart type is unknown */ + param_set(sys_restart_param, &sys_restart_val); + /* do regular cdev init */ ret = CDev::init(); @@ -675,6 +688,25 @@ PX4IO::init() /* send command to arm system via command API */ vehicle_command_s cmd; + /* send this to itself */ + param_t sys_id_param = param_find("MAV_SYS_ID"); + param_t comp_id_param = param_find("MAV_COMP_ID"); + + int32_t sys_id; + int32_t comp_id; + + if (param_get(sys_id_param, &sys_id)) { + errx(1, "PRM SYSID"); + } + + if (param_get(comp_id_param, &comp_id)) { + errx(1, "PRM CMPID"); + } + + cmd.target_system = sys_id; + cmd.target_component = comp_id; + cmd.source_system = sys_id; + cmd.source_component = comp_id; /* request arming */ cmd.param1 = 1.0f; cmd.param2 = 0; @@ -684,10 +716,7 @@ PX4IO::init() cmd.param6 = 0; cmd.param7 = 0; cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM; - // cmd.target_system = status.system_id; - // cmd.target_component = status.component_id; - // cmd.source_system = status.system_id; - // cmd.source_component = status.component_id; + /* ask to confirm command */ cmd.confirmation = 1; @@ -720,6 +749,11 @@ PX4IO::init() /* keep waiting for state change for 2 s */ } while (!safety.armed); + /* Indicate restart type is in-flight */ + sys_restart_val = DM_INIT_REASON_IN_FLIGHT; + param_set(sys_restart_param, &sys_restart_val); + + /* regular boot, no in-air restart, init IO */ } else { @@ -745,6 +779,10 @@ PX4IO::init() } } + /* Indicate restart type is power on */ + sys_restart_val = DM_INIT_REASON_POWER_ON; + param_set(sys_restart_param, &sys_restart_val); + } /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ @@ -756,7 +794,12 @@ PX4IO::init() } /* start the IO interface task */ - _task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (main_t)&PX4IO::task_main_trampoline, nullptr); + _task = task_spawn_cmd("px4io", + SCHED_DEFAULT, + SCHED_PRIORITY_ACTUATOR_OUTPUTS, + 2000, + (main_t)&PX4IO::task_main_trampoline, + nullptr); if (_task < 0) { debug("task start failed: %d", errno); @@ -944,8 +987,27 @@ PX4IO::task_main() int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1); if (pret != OK) { - log("voltage scaling upload failed"); + log("vscale upload failed"); } + + /* send RC throttle failsafe value to IO */ + int32_t failsafe_param_val; + param_t failsafe_param = param_find("RC_FAILS_THR"); + + if (failsafe_param != PARAM_INVALID) { + + param_get(failsafe_param, &failsafe_param_val); + + if (failsafe_param_val > 0) { + + uint16_t failsafe_thr = failsafe_param_val; + pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1); + if (pret != OK) { + log("failsafe upload failed, FS: %d us", (int)failsafe_thr); + } + } + } + } } @@ -1332,12 +1394,15 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt) battery_status.discharged_mah = _battery_mamphour_total; _battery_last_timestamp = battery_status.timestamp; - /* lazily publish the battery voltage */ - if (_to_battery > 0) { - orb_publish(ORB_ID(battery_status), _to_battery, &battery_status); + /* the announced battery status would conflict with the simulated battery status in HIL */ + if (!(_pub_blocked)) { + /* lazily publish the battery voltage */ + if (_to_battery > 0) { + orb_publish(ORB_ID(battery_status), _to_battery, &battery_status); - } else { - _to_battery = orb_advertise(ORB_ID(battery_status), &battery_status); + } else { + _to_battery = orb_advertise(ORB_ID(battery_status), &battery_status); + } } } @@ -1397,7 +1462,7 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) /* we don't have the status bits, so input_source has to be set elsewhere */ input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN; - static const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT); + const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT); uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog]; /* @@ -1405,8 +1470,6 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) * * This should be the common case (9 channel R/C control being a reasonable upper bound). */ - input_rc.timestamp_publication = hrt_absolute_time(); - ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, ®s[0], prolog + 9); if (ret != OK) @@ -1418,23 +1481,38 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) */ channel_count = regs[PX4IO_P_RAW_RC_COUNT]; - if (channel_count != _rc_chan_count) + /* limit the channel count */ + if (channel_count > RC_INPUT_MAX_CHANNELS) { + channel_count = RC_INPUT_MAX_CHANNELS; + } + + /* count channel count changes to identify signal integrity issues */ + if (channel_count != _rc_chan_count) { perf_count(_perf_chan_count); + } _rc_chan_count = channel_count; + input_rc.timestamp_publication = hrt_absolute_time(); + input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA]; input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI]; input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + input_rc.rc_lost = !(regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK); input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT]; input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT]; + input_rc.channel_count = channel_count; /* rc_lost has to be set before the call to this function */ - if (!input_rc.rc_lost && !input_rc.rc_failsafe) + if (!input_rc.rc_lost && !input_rc.rc_failsafe) { _rc_last_valid = input_rc.timestamp_publication; + } input_rc.timestamp_last_signal = _rc_last_valid; + /* FIELDS NOT SET HERE */ + /* input_rc.input_source is set after this call XXX we might want to mirror the flags in the RC struct */ + if (channel_count > 9) { ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, ®s[prolog + 9], channel_count - 9); @@ -1442,8 +1520,10 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) return ret; } - input_rc.channel_count = channel_count; - memcpy(input_rc.values, ®s[prolog], channel_count * 2); + /* last thing set are the actual channel values as 16 bit values */ + for (unsigned i = 0; i < channel_count; i++) { + input_rc.values[i] = regs[prolog + i]; + } return ret; } @@ -1476,10 +1556,11 @@ PX4IO::io_publish_raw_rc() } else { rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN; - /* we do not know the RC input, only publish if RC OK flag is set */ - /* if no raw RC, just don't publish */ - if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK)) + /* only keep publishing RC input if we ever got a valid input */ + if (_rc_last_valid == 0) { + /* we have never seen valid RC signals, abort */ return OK; + } } /* lazily advertise on first publication */ @@ -1921,12 +2002,14 @@ PX4IO::print_status() io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE)); #endif printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG)); - printf("controls"); + for (unsigned group = 0; group < 4; group++) { + printf("controls %u:", group); - for (unsigned i = 0; i < _max_controls; i++) - printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i)); + for (unsigned i = 0; i < _max_controls; i++) + printf(" %d", (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i)); - printf("\n"); + printf("\n"); + } for (unsigned i = 0; i < _max_rc_input; i++) { unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; @@ -1957,8 +2040,7 @@ PX4IO::print_status() } int -PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) -/* Make it obvious that file * isn't used here */ +PX4IO::ioctl(file * filep, int cmd, unsigned long arg) { int ret = OK; @@ -2109,6 +2191,10 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) case PWM_SERVO_GET_DISABLE_LOCKDOWN: *(unsigned *)arg = _lockdown_override; + + case PWM_SERVO_SET_FORCE_SAFETY_OFF: + /* force safety swith off */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); break; case DSM_BIND_START: @@ -2370,8 +2456,9 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) break; default: - /* not a recognized value */ - ret = -ENOTTY; + /* see if the parent class can make any use of it */ + ret = CDev::ioctl(filep, cmd, arg); + break; } return ret; diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp index dd8abbac5a..28ec62356b 100644 --- a/src/drivers/px4io/px4io_uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -201,9 +201,14 @@ PX4IO_Uploader::upload(const char *filenames[]) continue; } - if (bl_rev <= 2) + if (bl_rev <= 2) { ret = verify_rev2(fw_size); - else if(bl_rev == 3) { + } else if(bl_rev == 3) { + ret = verify_rev3(fw_size); + } else { + /* verify rev 4 and higher still uses the same approach and + * every version *needs* to be verified. + */ ret = verify_rev3(fw_size); } diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp index 4f58891ed3..13cbfdfa8b 100644 --- a/src/drivers/rgbled/rgbled.cpp +++ b/src/drivers/rgbled/rgbled.cpp @@ -242,6 +242,8 @@ RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg) return OK; default: + /* see if the parent class can make any use of it */ + ret = CDev::ioctl(filp, cmd, arg); break; } diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp index d65a9be361..dd5e4d3e0c 100644 --- a/src/drivers/roboclaw/RoboClaw.cpp +++ b/src/drivers/roboclaw/RoboClaw.cpp @@ -53,7 +53,7 @@ #include #include -#include +#include #include #include diff --git a/src/drivers/roboclaw/RoboClaw.hpp b/src/drivers/roboclaw/RoboClaw.hpp index e9f35cf956..58994d6fa6 100644 --- a/src/drivers/roboclaw/RoboClaw.hpp +++ b/src/drivers/roboclaw/RoboClaw.hpp @@ -45,7 +45,7 @@ #include #include -#include +#include #include #include @@ -169,7 +169,7 @@ private: struct pollfd _controlPoll; /** actuator controls subscription */ - control::UOrbSubscription _actuators; + uORB::Subscription _actuators; // private data float _motor1Position; diff --git a/src/modules/att_pos_estimator_ekf/module.mk b/src/drivers/sf0x/module.mk similarity index 88% rename from src/modules/att_pos_estimator_ekf/module.mk rename to src/drivers/sf0x/module.mk index 8d4a40d950..dc93a90e78 100644 --- a/src/modules/att_pos_estimator_ekf/module.mk +++ b/src/drivers/sf0x/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2014 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,11 +32,9 @@ ############################################################################ # -# Full attitude / position Extended Kalman Filter +# Makefile to build the Lightware laser range finder driver. # -MODULE_COMMAND = att_pos_estimator_ekf +MODULE_COMMAND = sf0x -SRCS = kalman_main.cpp \ - KalmanNav.cpp \ - params.c +SRCS = sf0x.cpp diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp new file mode 100644 index 0000000000..a0cf98340a --- /dev/null +++ b/src/drivers/sf0x/sf0x.cpp @@ -0,0 +1,1020 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * 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 sf0x.cpp + * @author Lorenz Meier + * @author Greg Hulands + * + * Driver for the Lightware SF0x laser rangefinder series + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include + +/* Configuration Constants */ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +#define SF0X_CONVERSION_INTERVAL 83334 +#define SF0X_TAKE_RANGE_REG 'd' +#define SF02F_MIN_DISTANCE 0.0f +#define SF02F_MAX_DISTANCE 40.0f +#define SF0X_DEFAULT_PORT "/dev/ttyS2" + +class SF0X : public device::CDev +{ +public: + SF0X(const char *port = SF0X_DEFAULT_PORT); + virtual ~SF0X(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + float _min_distance; + float _max_distance; + work_s _work; + RingBuffer *_reports; + bool _sensor_ok; + int _measure_ticks; + bool _collect_phase; + int _fd; + char _linebuf[10]; + unsigned _linebuf_index; + hrt_abstime _last_read; + + orb_advert_t _range_finder_topic; + + unsigned _consecutive_fail_count; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + /** + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Set the min and max distance thresholds if you want the end points of the sensors + * range to be brought in at all, otherwise it will use the defaults SF0X_MIN_DISTANCE + * and SF0X_MAX_DISTANCE + */ + void set_minimum_distance(float min); + void set_maximum_distance(float max); + float get_minimum_distance(); + float get_maximum_distance(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void cycle(); + int measure(); + int collect(); + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + +}; + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int sf0x_main(int argc, char *argv[]); + +SF0X::SF0X(const char *port) : + CDev("SF0X", RANGE_FINDER_DEVICE_PATH), + _min_distance(SF02F_MIN_DISTANCE), + _max_distance(SF02F_MAX_DISTANCE), + _reports(nullptr), + _sensor_ok(false), + _measure_ticks(0), + _collect_phase(false), + _fd(-1), + _linebuf_index(0), + _last_read(0), + _range_finder_topic(-1), + _consecutive_fail_count(0), + _sample_perf(perf_alloc(PC_ELAPSED, "sf0x_read")), + _comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "sf0x_buffer_overflows")) +{ + /* open fd */ + _fd = ::open(port, O_RDWR | O_NOCTTY | O_NONBLOCK); + + if (_fd < 0) { + warnx("FAIL: laser fd"); + } + + /* tell it to stop auto-triggering */ + char stop_auto = ' '; + (void)::write(_fd, &stop_auto, 1); + usleep(100); + (void)::write(_fd, &stop_auto, 1); + + struct termios uart_config; + + int termios_state; + + /* fill the struct for the new configuration */ + tcgetattr(_fd, &uart_config); + + /* clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + /* no parity, one stop bit */ + uart_config.c_cflag &= ~(CSTOPB | PARENB); + + unsigned speed = B9600; + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + warnx("ERR CFG: %d ISPD", termios_state); + } + + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + warnx("ERR CFG: %d OSPD\n", termios_state); + } + + if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) { + warnx("ERR baud %d ATTR", termios_state); + } + + // disable debug() calls + _debug_enabled = false; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +SF0X::~SF0X() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) { + delete _reports; + } +} + +int +SF0X::init() +{ + int ret = ERROR; + unsigned i = 0; + + /* do regular cdev init */ + if (CDev::init() != OK) { + goto out; + } + + /* allocate basic report buffers */ + _reports = new RingBuffer(2, sizeof(range_finder_report)); + + if (_reports == nullptr) { + warnx("mem err"); + goto out; + } + + /* get a publish handle on the range finder topic */ + struct range_finder_report zero_report; + memset(&zero_report, 0, sizeof(zero_report)); + _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report); + + if (_range_finder_topic < 0) { + warnx("advert err"); + } + + /* close the fd */ + ::close(_fd); + _fd = -1; +out: + return OK; +} + +int +SF0X::probe() +{ + return measure(); +} + +void +SF0X::set_minimum_distance(float min) +{ + _min_distance = min; +} + +void +SF0X::set_maximum_distance(float max) +{ + _max_distance = max; +} + +float +SF0X::get_minimum_distance() +{ + return _min_distance; +} + +float +SF0X::get_maximum_distance() +{ + return _max_distance; +} + +int +SF0X::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _measure_ticks = 0; + return OK; + + /* external signalling (DRDY) not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(SF0X_CONVERSION_INTERVAL); + + /* if we need to start the poll state machine, do it */ + if (want_start) { + start(); + } + + return OK; + } + + /* adjust to a legal polling interval in Hz */ + default: { + + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* convert hz to tick interval via microseconds */ + unsigned ticks = USEC2TICK(1000000 / arg); + + /* check against maximum rate */ + if (ticks < USEC2TICK(SF0X_CONVERSION_INTERVAL)) { + return -EINVAL; + } + + /* update interval for next measurement */ + _measure_ticks = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) { + start(); + } + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_measure_ticks == 0) { + return SENSOR_POLLRATE_MANUAL; + } + + return (1000 / _measure_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) { + return -EINVAL; + } + + irqstate_t flags = irqsave(); + + if (!_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + + irqrestore(flags); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _reports->size(); + + case SENSORIOCRESET: + /* XXX implement this */ + return -EINVAL; + + case RANGEFINDERIOCSETMINIUMDISTANCE: { + set_minimum_distance(*(float *)arg); + return 0; + } + break; + + case RANGEFINDERIOCSETMAXIUMDISTANCE: { + set_maximum_distance(*(float *)arg); + return 0; + } + break; + + default: + /* give it to the superclass */ + return CDev::ioctl(filp, cmd, arg); + } +} + +ssize_t +SF0X::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct range_finder_report); + struct range_finder_report *rbuf = reinterpret_cast(buffer); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) { + return -ENOSPC; + } + + /* if automatic measurement is enabled */ + if (_measure_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_reports->get(rbuf)) { + ret += sizeof(*rbuf); + rbuf++; + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + do { + _reports->flush(); + + /* trigger a measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + /* wait for it to complete */ + usleep(SF0X_CONVERSION_INTERVAL); + + /* run the collection phase */ + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + if (_reports->get(rbuf)) { + ret = sizeof(*rbuf); + } + + } while (0); + + return ret; +} + +int +SF0X::measure() +{ + int ret; + + /* + * Send the command to begin a measurement. + */ + char cmd = SF0X_TAKE_RANGE_REG; + ret = ::write(_fd, &cmd, 1); + + if (ret != sizeof(cmd)) { + perf_count(_comms_errors); + log("write fail %d", ret); + return ret; + } + + ret = OK; + + return ret; +} + +int +SF0X::collect() +{ + int ret; + + perf_begin(_sample_perf); + + /* clear buffer if last read was too long ago */ + uint64_t read_elapsed = hrt_elapsed_time(&_last_read); + + if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) { + _linebuf_index = 0; + } else if (_linebuf_index > 0) { + /* increment to next read position */ + _linebuf_index++; + } + + /* the buffer for read chars is buflen minus null termination */ + unsigned readlen = sizeof(_linebuf) - 1; + + /* read from the sensor (uart buffer) */ + ret = ::read(_fd, &_linebuf[_linebuf_index], readlen - _linebuf_index); + + if (ret < 0) { + _linebuf[sizeof(_linebuf) - 1] = '\0'; + debug("read err: %d lbi: %d buf: %s", ret, (int)_linebuf_index, _linebuf); + perf_count(_comms_errors); + perf_end(_sample_perf); + + /* only throw an error if we time out */ + if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) { + return ret; + + } else { + return -EAGAIN; + } + } else if (ret == 0) { + return -EAGAIN; + } + + /* we did increment the index to the next position already, so just add the additional fields */ + _linebuf_index += (ret - 1); + + _last_read = hrt_absolute_time(); + + if (_linebuf_index < 1) { + /* we need at least the two end bytes to make sense of this string */ + return -EAGAIN; + + } else if (_linebuf[_linebuf_index - 1] != '\r' || _linebuf[_linebuf_index] != '\n') { + + if (_linebuf_index >= readlen - 1) { + /* we have a full buffer, but no line ending - abort */ + _linebuf_index = 0; + perf_count(_comms_errors); + return -ENOMEM; + } else { + /* incomplete read, reschedule ourselves */ + return -EAGAIN; + } + } + + char *end; + float si_units; + bool valid; + + /* enforce line ending */ + unsigned lend = (_linebuf_index < (sizeof(_linebuf) - 1)) ? _linebuf_index : (sizeof(_linebuf) - 1); + + _linebuf[lend] = '\0'; + + if (_linebuf[0] == '-' && _linebuf[1] == '-' && _linebuf[2] == '.') { + si_units = -1.0f; + valid = false; + + } else { + + /* we need to find a dot in the string, as we're missing the meters part else */ + valid = false; + + /* wipe out partially read content from last cycle(s), check for dot */ + for (int i = 0; i < (lend - 2); i++) { + if (_linebuf[i] == '\n') { + char buf[sizeof(_linebuf)]; + memcpy(buf, &_linebuf[i+1], (lend + 1) - (i + 1)); + memcpy(_linebuf, buf, (lend + 1) - (i + 1)); + } + + if (_linebuf[i] == '.') { + valid = true; + } + } + + if (valid) { + si_units = strtod(_linebuf, &end); + + /* we require at least 3 characters for a valid number */ + if (end > _linebuf + 3) { + valid = true; + } else { + si_units = -1.0f; + valid = false; + } + } + } + + debug("val (float): %8.4f, raw: %s, valid: %s\n", si_units, _linebuf, ((valid) ? "OK" : "NO")); + + /* done with this chunk, resetting - even if invalid */ + _linebuf_index = 0; + + /* if its invalid, there is no reason to forward the value */ + if (!valid) { + perf_count(_comms_errors); + return -EINVAL; + } + + struct range_finder_report report; + + /* this should be fairly close to the end of the measurement, so the best approximation of the time */ + report.timestamp = hrt_absolute_time(); + report.error_count = perf_event_count(_comms_errors); + report.distance = si_units; + report.valid = valid && (si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0); + + /* publish it */ + orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report); + + if (_reports->force(&report)) { + perf_count(_buffer_overflows); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + ret = OK; + + perf_end(_sample_perf); + return ret; +} + +void +SF0X::start() +{ + /* reset the report ring and state machine */ + _collect_phase = false; + _reports->flush(); + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&SF0X::cycle_trampoline, this, 1); + + // /* notify about state change */ + // struct subsystem_info_s info = { + // true, + // true, + // true, + // SUBSYSTEM_TYPE_RANGEFINDER + // }; + // static orb_advert_t pub = -1; + + // if (pub > 0) { + // orb_publish(ORB_ID(subsystem_info), pub, &info); + + // } else { + // pub = orb_advertise(ORB_ID(subsystem_info), &info); + // } +} + +void +SF0X::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +SF0X::cycle_trampoline(void *arg) +{ + SF0X *dev = static_cast(arg); + + dev->cycle(); +} + +void +SF0X::cycle() +{ + /* fds initialized? */ + if (_fd < 0) { + /* open fd */ + _fd = ::open(SF0X_DEFAULT_PORT, O_RDWR | O_NOCTTY | O_NONBLOCK); + } + + /* collection phase? */ + if (_collect_phase) { + + /* perform collection */ + int collect_ret = collect(); + + if (collect_ret == -EAGAIN) { + /* reschedule to grab the missing bits, time to transmit 10 bytes @9600 bps */ + work_queue(HPWORK, + &_work, + (worker_t)&SF0X::cycle_trampoline, + this, + USEC2TICK(1100)); + return; + } + + if (OK != collect_ret) { + + /* we know the sensor needs about four seconds to initialize */ + if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) { + log("collection error #%u", _consecutive_fail_count); + } + _consecutive_fail_count++; + + /* restart the measurement state machine */ + start(); + return; + } else { + /* apparently success */ + _consecutive_fail_count = 0; + } + + /* next phase is measurement */ + _collect_phase = false; + + /* + * Is there a collect->measure gap? + */ + if (_measure_ticks > USEC2TICK(SF0X_CONVERSION_INTERVAL)) { + + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&SF0X::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(SF0X_CONVERSION_INTERVAL)); + + return; + } + } + + /* measurement phase */ + if (OK != measure()) { + log("measure error"); + } + + /* next phase is collection */ + _collect_phase = true; + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, + &_work, + (worker_t)&SF0X::cycle_trampoline, + this, + USEC2TICK(SF0X_CONVERSION_INTERVAL)); +} + +void +SF0X::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %d ticks\n", _measure_ticks); + _reports->print_info("report queue"); +} + +/** + * Local functions in support of the shell command. + */ +namespace sf0x +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +SF0X *g_dev; + +void start(); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start(const char *port) +{ + int fd; + + if (g_dev != nullptr) { + errx(1, "already started"); + } + + /* create the driver */ + g_dev = new SF0X(port); + + if (g_dev == nullptr) { + goto fail; + } + + if (OK != g_dev->init()) { + goto fail; + } + + /* set the poll rate to default, starts automatic data collection */ + fd = open(RANGE_FINDER_DEVICE_PATH, 0); + + if (fd < 0) { + warnx("device open fail"); + goto fail; + } + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + goto fail; + } + + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver + */ +void stop() +{ + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + + } else { + errx(1, "driver not running"); + } + + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + struct range_finder_report report; + ssize_t sz; + + int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "%s open failed (try 'sf0x start' if the driver is not running", RANGE_FINDER_DEVICE_PATH); + } + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + err(1, "immediate read failed"); + } + + warnx("single read"); + warnx("val: %0.2f m", (double)report.distance); + warnx("time: %lld", report.timestamp); + + /* start the sensor polling at 2 Hz rate */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { + errx(1, "failed to set 2Hz poll rate"); + } + + /* read the sensor 5x and report each value */ + for (unsigned i = 0; i < 5; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + int ret = poll(&fds, 1, 2000); + + if (ret != 1) { + warnx("timed out"); + break; + } + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + warnx("read failed: got %d vs exp. %d", sz, sizeof(report)); + break; + } + + warnx("read #%u", i); + warnx("val: %0.3f m", (double)report.distance); + warnx("time: %lld", report.timestamp); + } + + /* reset the sensor polling to the default rate */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { + errx(1, "ERR: DEF RATE"); + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "failed "); + } + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) { + err(1, "driver reset failed"); + } + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + err(1, "driver poll restart failed"); + } + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) { + errx(1, "driver not running"); + } + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} // namespace + +int +sf0x_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) { + if (argc > 2) { + sf0x::start(argv[2]); + + } else { + sf0x::start(SF0X_DEFAULT_PORT); + } + } + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + sf0x::stop(); + } + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) { + sf0x::test(); + } + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) { + sf0x::reset(); + } + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { + sf0x::info(); + } + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp index 00e46d6b82..de13b89697 100644 --- a/src/drivers/stm32/adc/adc.cpp +++ b/src/drivers/stm32/adc/adc.cpp @@ -41,6 +41,7 @@ */ #include +#include #include #include @@ -64,6 +65,8 @@ #include #include +#include + /* * Register accessors. * For now, no reason not to just use ADC1. @@ -119,6 +122,8 @@ private: unsigned _channel_count; adc_msg_s *_samples; /**< sample buffer */ + orb_advert_t _to_system_power; + /** work trampoline */ static void _tick_trampoline(void *arg); @@ -134,13 +139,16 @@ private: */ uint16_t _sample(unsigned channel); + // update system_power ORB topic, only on FMUv2 + void update_system_power(void); }; ADC::ADC(uint32_t channels) : CDev("adc", ADC_DEVICE_PATH), _sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")), _channel_count(0), - _samples(nullptr) + _samples(nullptr), + _to_system_power(0) { _debug_enabled = true; @@ -290,6 +298,43 @@ ADC::_tick() /* scan the channel set and sample each */ for (unsigned i = 0; i < _channel_count; i++) _samples[i].am_data = _sample(_samples[i].am_channel); + update_system_power(); +} + +void +ADC::update_system_power(void) +{ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + system_power_s system_power; + system_power.timestamp = hrt_absolute_time(); + + system_power.voltage5V_v = 0; + for (unsigned i = 0; i < _channel_count; i++) { + if (_samples[i].am_channel == 4) { + // it is 2:1 scaled + system_power.voltage5V_v = _samples[i].am_data * (6.6f / 4096); + } + } + + // these are not ADC related, but it is convenient to + // publish these to the same topic + system_power.usb_connected = stm32_gpioread(GPIO_OTGFS_VBUS); + + // note that the valid pins are active low + system_power.brick_valid = !stm32_gpioread(GPIO_VDD_BRICK_VALID); + system_power.servo_valid = !stm32_gpioread(GPIO_VDD_SERVO_VALID); + + // OC pins are active low + system_power.periph_5V_OC = !stm32_gpioread(GPIO_VDD_5V_PERIPH_OC); + system_power.hipower_5V_OC = !stm32_gpioread(GPIO_VDD_5V_HIPOWER_OC); + + /* lazily publish */ + if (_to_system_power > 0) { + orb_publish(ORB_ID(system_power), _to_system_power, &system_power); + } else { + _to_system_power = orb_advertise(ORB_ID(system_power), &system_power); + } +#endif // CONFIG_ARCH_BOARD_PX4FMU_V2 } uint16_t @@ -341,7 +386,7 @@ test(void) err(1, "can't open ADC device"); for (unsigned i = 0; i < 50; i++) { - adc_msg_s data[10]; + adc_msg_s data[12]; ssize_t count = read(fd, data, sizeof(data)); if (count < 0) @@ -374,6 +419,10 @@ adc_main(int argc, char *argv[]) g_adc = new ADC((1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)); #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE + /* XXX this hardcodes the default channel set for AeroCore - should be configurable */ + g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)); +#endif if (g_adc == nullptr) errx(1, "couldn't allocate the ADC driver"); diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index b7c9b89a45..281f918d70 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -94,7 +94,7 @@ #elif HRT_TIMER == 3 # define HRT_TIMER_BASE STM32_TIM3_BASE # define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR -# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM3EN +# define HRT_TIMER_POWER_BIT RCC_APB1ENR_TIM3EN # define HRT_TIMER_VECTOR STM32_IRQ_TIM3 # define HRT_TIMER_CLOCK STM32_APB1_TIM3_CLKIN # if CONFIG_STM32_TIM3 @@ -141,7 +141,7 @@ # define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR # define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM10EN # define HRT_TIMER_VECTOR STM32_IRQ_TIM1UP -# define HRT_TIMER_CLOCK STM32_APB1_TIM10_CLKIN +# define HRT_TIMER_CLOCK STM32_APB2_TIM10_CLKIN # if CONFIG_STM32_TIM10 # error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=10 # endif @@ -150,7 +150,7 @@ # define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR # define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM11EN # define HRT_TIMER_VECTOR STM32_IRQ_TIM1TRGCOM -# define HRT_TIMER_CLOCK STM32_APB1_TIM11_CLKIN +# define HRT_TIMER_CLOCK STM32_APB2_TIM11_CLKIN # if CONFIG_STM32_TIM11 # error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11 # endif @@ -354,6 +354,9 @@ __EXPORT uint16_t ppm_frame_length = 0; __EXPORT unsigned ppm_decoded_channels = 0; __EXPORT uint64_t ppm_last_valid_decode = 0; +#define PPM_DEBUG 0 + +#if PPM_DEBUG /* PPM edge history */ __EXPORT uint16_t ppm_edge_history[32]; unsigned ppm_edge_next; @@ -361,6 +364,7 @@ unsigned ppm_edge_next; /* PPM pulse history */ __EXPORT uint16_t ppm_pulse_history[32]; unsigned ppm_pulse_next; +#endif static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS]; @@ -455,10 +459,12 @@ hrt_ppm_decode(uint32_t status) /* how long since the last edge? - this handles counter wrapping implicitely. */ width = count - ppm.last_edge; +#if PPM_DEBUG ppm_edge_history[ppm_edge_next++] = width; if (ppm_edge_next >= 32) ppm_edge_next = 0; +#endif /* * if this looks like a start pulse, then push the last set of values @@ -546,10 +552,12 @@ hrt_ppm_decode(uint32_t status) interval = count - ppm.last_mark; ppm.last_mark = count; +#if PPM_DEBUG ppm_pulse_history[ppm_pulse_next++] = interval; if (ppm_pulse_next >= 32) ppm_pulse_next = 0; +#endif /* if the mark-mark timing is out of bounds, abandon the frame */ if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE)) diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp index f36f2091e3..810f4aacc4 100644 --- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp +++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp @@ -334,6 +334,8 @@ ToneAlarm::ToneAlarm() : _default_tunes[TONE_BATTERY_WARNING_SLOW_TUNE] = "MBNT100a8"; //battery warning slow _default_tunes[TONE_BATTERY_WARNING_FAST_TUNE] = "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8"; //battery warning fast _default_tunes[TONE_GPS_WARNING_TUNE] = "MFT255L4AAAL1F#"; //gps warning slow + _default_tunes[TONE_ARMING_FAILURE_TUNE] = "MFT255L4<< #include #include +#include #include #include "flow_position_estimator_params.h" @@ -109,9 +110,9 @@ int flow_position_estimator_main(int argc, char *argv[]) thread_should_exit = false; daemon_task = task_spawn_cmd("flow_position_estimator", - SCHED_RR, + SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 4096, + 4000, flow_position_estimator_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); diff --git a/src/examples/px4_daemon_app/module.mk b/src/examples/px4_daemon_app/module.mk index 5f8aa73d57..fc42231425 100644 --- a/src/examples/px4_daemon_app/module.mk +++ b/src/examples/px4_daemon_app/module.mk @@ -38,3 +38,5 @@ MODULE_COMMAND = px4_daemon_app SRCS = px4_daemon_app.c + +MODULE_STACKSIZE = 1200 diff --git a/src/examples/px4_daemon_app/px4_daemon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c index 53f1b4a9a7..3eaf14148a 100644 --- a/src/examples/px4_daemon_app/px4_daemon_app.c +++ b/src/examples/px4_daemon_app/px4_daemon_app.c @@ -98,7 +98,7 @@ int px4_daemon_app_main(int argc, char *argv[]) daemon_task = task_spawn_cmd("daemon", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 4096, + 2000, px4_daemon_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); diff --git a/src/examples/px4_mavlink_debug/module.mk b/src/examples/px4_mavlink_debug/module.mk index fefd614961..c7ef97fc45 100644 --- a/src/examples/px4_mavlink_debug/module.mk +++ b/src/examples/px4_mavlink_debug/module.mk @@ -37,4 +37,6 @@ MODULE_COMMAND = px4_mavlink_debug -SRCS = px4_mavlink_debug.c \ No newline at end of file +SRCS = px4_mavlink_debug.c + +MODULE_STACKSIZE = 2000 diff --git a/src/modules/controllib/block/List.hpp b/src/include/containers/List.hpp similarity index 96% rename from src/modules/controllib/block/List.hpp rename to src/include/containers/List.hpp index 96b0b94d10..13cbda9382 100644 --- a/src/modules/controllib/block/List.hpp +++ b/src/include/containers/List.hpp @@ -32,9 +32,9 @@ ****************************************************************************/ /** - * @file Node.h + * @file List.hpp * - * A node of a linked list. + * A linked list. */ #pragma once @@ -43,7 +43,7 @@ template class __EXPORT ListNode { public: - ListNode() : _sibling(NULL) { + ListNode() : _sibling(nullptr) { } void setSibling(T sibling) { _sibling = sibling; } T getSibling() { return _sibling; } diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h index 5054937e07..0ea655cac3 100644 --- a/src/include/mavlink/mavlink_log.h +++ b/src/include/mavlink/mavlink_log.h @@ -100,6 +100,7 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...); */ #define mavlink_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__); + struct mavlink_logmessage { char text[MAVLINK_LOG_MAXLEN + 1]; unsigned char severity; @@ -112,6 +113,7 @@ struct mavlink_logbuffer { struct mavlink_logmessage *elems; }; +__BEGIN_DECLS void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size); void mavlink_logbuffer_destroy(struct mavlink_logbuffer *lb); @@ -125,6 +127,7 @@ void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem); void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...); +__END_DECLS #endif diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c index 9b3e202e6e..9a24ff50e2 100644 --- a/src/lib/geo/geo.c +++ b/src/lib/geo/geo.c @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * Lorenz Meier + * Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -42,6 +39,7 @@ * @author Thomas Gubler * @author Julian Oes * @author Lorenz Meier + * @author Anton Babushkin */ #include @@ -52,124 +50,58 @@ #include #include +/* + * Azimuthal Equidistant Projection + * formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html + */ -/* values for map projection */ -static double phi_1; -static double sin_phi_1; -static double cos_phi_1; -static double lambda_0; -static double scale; - -__EXPORT void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 +__EXPORT void map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 { - /* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - phi_1 = lat_0 / 180.0 * M_PI; - lambda_0 = lon_0 / 180.0 * M_PI; - - sin_phi_1 = sin(phi_1); - cos_phi_1 = cos(phi_1); - - /* calculate local scale by using the relation of true distance and the distance on plane */ //TODO: this is a quick solution, there are probably easier ways to determine the scale - - /* 1) calculate true distance d on sphere to a point: http://www.movable-type.co.uk/scripts/latlong.html */ - - double lat1 = phi_1; - double lon1 = lambda_0; - - double lat2 = phi_1 + 0.5 / 180 * M_PI; - double lon2 = lambda_0 + 0.5 / 180 * M_PI; - double sin_lat_2 = sin(lat2); - double cos_lat_2 = cos(lat2); - double d = acos(sin(lat1) * sin_lat_2 + cos(lat1) * cos_lat_2 * cos(lon2 - lon1)) * CONSTANTS_RADIUS_OF_EARTH; - - /* 2) calculate distance rho on plane */ - double k_bar = 0; - double c = acos(sin_phi_1 * sin_lat_2 + cos_phi_1 * cos_lat_2 * cos(lon2 - lambda_0)); - - if (0 != c) - k_bar = c / sin(c); - - double x2 = k_bar * (cos_lat_2 * sin(lon2 - lambda_0)); //Projection of point 2 on plane - double y2 = k_bar * ((cos_phi_1 * sin_lat_2 - sin_phi_1 * cos_lat_2 * cos(lon2 - lambda_0))); - double rho = sqrt(pow(x2, 2) + pow(y2, 2)); - - scale = d / rho; + ref->lat = lat_0 / 180.0 * M_PI; + ref->lon = lon_0 / 180.0 * M_PI; + ref->sin_lat = sin(ref->lat); + ref->cos_lat = cos(ref->lat); } -__EXPORT void map_projection_project(double lat, double lon, float *x, float *y) +__EXPORT void map_projection_project(struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y) { - /* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - double phi = lat / 180.0 * M_PI; - double lambda = lon / 180.0 * M_PI; + double lat_rad = lat / 180.0 * M_PI; + double lon_rad = lon / 180.0 * M_PI; - double sin_phi = sin(phi); - double cos_phi = cos(phi); + double sin_lat = sin(lat_rad); + double cos_lat = cos(lat_rad); + double cos_d_lon = cos(lon_rad - ref->lon); - double k_bar = 0; - /* using small angle approximation (formula in comment is without aproximation) */ - double c = acos(sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2)); //double c = acos( sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * cos(lambda - lambda_0) ); + double c = acos(ref->sin_lat * sin_lat + ref->cos_lat * cos_lat * cos_d_lon); + double k = (c == 0.0) ? 1.0 : (c / sin(c)); - if (0 != c) - k_bar = c / sin(c); - - /* using small angle approximation (formula in comment is without aproximation) */ - *y = k_bar * (cos_phi * (lambda - lambda_0)) * scale;//*y = k_bar * (cos_phi * sin(lambda - lambda_0)) * scale; - *x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2))) * scale; // *x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * cos(lambda - lambda_0))) * scale; - -// printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0); + *x = k * (ref->cos_lat * sin_lat - ref->sin_lat * cos_lat * cos_d_lon) * CONSTANTS_RADIUS_OF_EARTH; + *y = k * cos_lat * sin(lon_rad - ref->lon) * CONSTANTS_RADIUS_OF_EARTH; } -__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon) +__EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon) { - /* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - - double x_descaled = x / scale; - double y_descaled = y / scale; - - double c = sqrt(pow(x_descaled, 2) + pow(y_descaled, 2)); + float x_rad = x / CONSTANTS_RADIUS_OF_EARTH; + float y_rad = y / CONSTANTS_RADIUS_OF_EARTH; + double c = sqrtf(x_rad * x_rad + y_rad * y_rad); double sin_c = sin(c); double cos_c = cos(c); - double lat_sphere = 0; + double lat_rad; + double lon_rad; - if (c != 0) - lat_sphere = asin(cos_c * sin_phi_1 + (x_descaled * sin_c * cos_phi_1) / c); - else - lat_sphere = asin(cos_c * sin_phi_1); - -// printf("lat_sphere = %.10f\n",lat_sphere); - - double lon_sphere = 0; - - if (phi_1 == M_PI / 2) { - //using small angle approximation (formula in comment is without aproximation) - lon_sphere = (lambda_0 - y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(-y_descaled, x_descaled)); - - } else if (phi_1 == -M_PI / 2) { - //using small angle approximation (formula in comment is without aproximation) - lon_sphere = (lambda_0 + y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(y_descaled, x_descaled)); + if (c != 0.0) { + lat_rad = asin(cos_c * ref->sin_lat + (x_rad * sin_c * ref->cos_lat) / c); + lon_rad = (ref->lon + atan2(y_rad * sin_c, c * ref->cos_lat * cos_c - x_rad * ref->sin_lat * sin_c)); } else { - - lon_sphere = (lambda_0 + atan2(y_descaled * sin_c , c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c)); - //using small angle approximation -// double denominator = (c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c); -// if(denominator != 0) -// { -// lon_sphere = (lambda_0 + (y_descaled * sin_c) / denominator); -// } -// else -// { -// ... -// } + lat_rad = ref->lat; + lon_rad = ref->lon; } -// printf("lon_sphere = %.10f\n",lon_sphere); - - *lat = lat_sphere * 180.0 / M_PI; - *lon = lon_sphere * 180.0 / M_PI; - + *lat = lat_rad * 180.0 / M_PI; + *lon = lon_rad * 180.0 / M_PI; } @@ -197,7 +129,6 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub double lat_next_rad = lat_next * M_DEG_TO_RAD; double lon_next_rad = lon_next * M_DEG_TO_RAD; - double d_lat = lat_next_rad - lat_now_rad; double d_lon = lon_next_rad - lon_now_rad; /* conscious mix of double and float trig function to maximize speed and efficiency */ @@ -208,7 +139,7 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub return theta; } -__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float* v_n, float* v_e) +__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e) { double lat_now_rad = lat_now * M_DEG_TO_RAD; double lon_now_rad = lon_now * M_DEG_TO_RAD; @@ -223,7 +154,7 @@ __EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double *v_e = CONSTANTS_RADIUS_OF_EARTH * sin(d_lon) * cos(lat_next_rad); } -__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float* v_n, float* v_e) +__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e) { double lat_now_rad = lat_now * M_DEG_TO_RAD; double lon_now_rad = lon_now * M_DEG_TO_RAD; @@ -249,7 +180,7 @@ __EXPORT void add_vector_to_global_position(double lat_now, double lon_now, floa // Additional functions - @author Doug Weibel -__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end) +__EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end) { // This function returns the distance to the nearest point on the track line. Distance is positive if current // position is right of the track and negative if left of the track as seen from a point on the track line @@ -266,7 +197,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, crosstrack_error->bearing = 0.0f; // Return error if arguments are bad - if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_value; + if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) { return return_value; } bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end); @@ -297,8 +228,8 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, } -__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center, - float radius, float arc_start_bearing, float arc_sweep) +__EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center, + float radius, float arc_start_bearing, float arc_sweep) { // This function returns the distance to the nearest point on the track arc. Distance is positive if current // position is right of the arc and negative if left of the arc as seen from the closest point on the arc and @@ -317,29 +248,29 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, d crosstrack_error->bearing = 0.0f; // Return error if arguments are bad - if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_value; + if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) { return return_value; } if (arc_sweep >= 0) { bearing_sector_start = arc_start_bearing; bearing_sector_end = arc_start_bearing + arc_sweep; - if (bearing_sector_end > 2.0f * M_PI_F) bearing_sector_end -= M_TWOPI_F; + if (bearing_sector_end > 2.0f * M_PI_F) { bearing_sector_end -= M_TWOPI_F; } } else { bearing_sector_end = arc_start_bearing; bearing_sector_start = arc_start_bearing - arc_sweep; - if (bearing_sector_start < 0.0f) bearing_sector_start += M_TWOPI_F; + if (bearing_sector_start < 0.0f) { bearing_sector_start += M_TWOPI_F; } } in_sector = false; // Case where sector does not span zero - if (bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start && bearing_now <= bearing_sector_end) in_sector = true; + if (bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start && bearing_now <= bearing_sector_end) { in_sector = true; } // Case where sector does span zero - if (bearing_sector_end < bearing_sector_start && (bearing_now > bearing_sector_start || bearing_now < bearing_sector_end)) in_sector = true; + if (bearing_sector_end < bearing_sector_start && (bearing_now > bearing_sector_start || bearing_now < bearing_sector_end)) { in_sector = true; } // If in the sector then calculate distance and bearing to closest point if (in_sector) { @@ -395,8 +326,8 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, d } __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now, - double lat_next, double lon_next, float alt_next, - float *dist_xy, float *dist_z) + double lat_next, double lon_next, float alt_next, + float *dist_xy, float *dist_z) { double current_x_rad = lat_next / 180.0 * M_PI; double current_y_rad = lon_next / 180.0 * M_PI; @@ -420,8 +351,8 @@ __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now __EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now, - float x_next, float y_next, float z_next, - float *dist_xy, float *dist_z) + float x_next, float y_next, float z_next, + float *dist_xy, float *dist_z) { float dx = x_now - x_next; float dy = y_now - y_next; @@ -441,17 +372,21 @@ __EXPORT float _wrap_pi(float bearing) } int c = 0; - while (bearing > M_PI_F) { + while (bearing >= M_PI_F) { bearing -= M_TWOPI_F; - if (c++ > 3) + + if (c++ > 3) { return NAN; + } } c = 0; - while (bearing <= -M_PI_F) { + while (bearing < -M_PI_F) { bearing += M_TWOPI_F; - if (c++ > 3) + + if (c++ > 3) { return NAN; + } } return bearing; @@ -465,17 +400,21 @@ __EXPORT float _wrap_2pi(float bearing) } int c = 0; - while (bearing > M_TWOPI_F) { + while (bearing >= M_TWOPI_F) { bearing -= M_TWOPI_F; - if (c++ > 3) + + if (c++ > 3) { return NAN; + } } c = 0; - while (bearing <= 0.0f) { + while (bearing < 0.0f) { bearing += M_TWOPI_F; - if (c++ > 3) + + if (c++ > 3) { return NAN; + } } return bearing; @@ -489,17 +428,21 @@ __EXPORT float _wrap_180(float bearing) } int c = 0; - while (bearing > 180.0f) { + while (bearing >= 180.0f) { bearing -= 360.0f; - if (c++ > 3) + + if (c++ > 3) { return NAN; + } } c = 0; - while (bearing <= -180.0f) { + while (bearing < -180.0f) { bearing += 360.0f; - if (c++ > 3) + + if (c++ > 3) { return NAN; + } } return bearing; @@ -513,17 +456,21 @@ __EXPORT float _wrap_360(float bearing) } int c = 0; - while (bearing > 360.0f) { + while (bearing >= 360.0f) { bearing -= 360.0f; - if (c++ > 3) + + if (c++ > 3) { return NAN; + } } c = 0; - while (bearing <= 0.0f) { + while (bearing < 0.0f) { bearing += 360.0f; - if (c++ > 3) + + if (c++ > 3) { return NAN; + } } return bearing; diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h index 94afb4df0a..e2f3da6f80 100644 --- a/src/lib/geo/geo.h +++ b/src/lib/geo/geo.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * Lorenz Meier + * Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -42,6 +39,7 @@ * @author Thomas Gubler * @author Julian Oes * @author Lorenz Meier + * @author Anton Babushkin * Additional functions - @author Doug Weibel */ @@ -52,6 +50,8 @@ __BEGIN_DECLS +#include "geo/geo_mag_declination.h" + #include #define CONSTANTS_ONE_G 9.80665f /* m/s^2 */ @@ -67,6 +67,14 @@ struct crosstrack_error_s { float bearing; // Bearing in radians to closest point on line/arc } ; +/* lat/lon are in radians */ +struct map_projection_reference_s { + double lat; + double lon; + double sin_lat; + double cos_lat; +}; + /** * Initializes the map transformation. * @@ -74,7 +82,7 @@ struct crosstrack_error_s { * @param lat in degrees (47.1234567°, not 471234567°) * @param lon in degrees (8.1234567°, not 81234567°) */ -__EXPORT void map_projection_init(double lat_0, double lon_0); +__EXPORT void map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0); /** * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane @@ -83,7 +91,7 @@ __EXPORT void map_projection_init(double lat_0, double lon_0); * @param lat in degrees (47.1234567°, not 471234567°) * @param lon in degrees (8.1234567°, not 81234567°) */ -__EXPORT void map_projection_project(double lat, double lon, float *x, float *y); +__EXPORT void map_projection_project(struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y); /** * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system @@ -93,7 +101,7 @@ __EXPORT void map_projection_project(double lat, double lon, float *x, float *y) * @param lat in degrees (47.1234567°, not 471234567°) * @param lon in degrees (8.1234567°, not 81234567°) */ -__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon); +__EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon); /** * Returns the distance to the next waypoint in meters. @@ -115,30 +123,30 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou */ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next); -__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float* v_n, float* v_e); +__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e); -__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float* v_n, float* v_e); +__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e); __EXPORT void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res, double *lon_res); -__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end); +__EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end); -__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center, - float radius, float arc_start_bearing, float arc_sweep); +__EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center, + float radius, float arc_start_bearing, float arc_sweep); /* * Calculate distance in global frame */ __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now, - double lat_next, double lon_next, float alt_next, - float *dist_xy, float *dist_z); + double lat_next, double lon_next, float alt_next, + float *dist_xy, float *dist_z); /* * Calculate distance in local frame (NED) */ __EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now, - float x_next, float y_next, float z_next, - float *dist_xy, float *dist_z); + float x_next, float y_next, float z_next, + float *dist_xy, float *dist_z); __EXPORT float _wrap_180(float bearing); __EXPORT float _wrap_360(float bearing); diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo/geo_mag_declination.c new file mode 100644 index 0000000000..09eac38f44 --- /dev/null +++ b/src/lib/geo/geo_mag_declination.c @@ -0,0 +1,136 @@ +/**************************************************************************** + * + * Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved. + * + * 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 MAVGEO 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 geo_mag_declination.c +* +* Calculation / lookup table for earth magnetic field declination. +* +* Lookup table from Scott Ferguson +* +* XXX Lookup table currently too coarse in resolution (only full degrees) +* and lat/lon res - needs extension medium term. +* +*/ + +#include + +/** set this always to the sampling in degrees for the table below */ +#define SAMPLING_RES 10.0f +#define SAMPLING_MIN_LAT -60.0f +#define SAMPLING_MAX_LAT 60.0f +#define SAMPLING_MIN_LON -180.0f +#define SAMPLING_MAX_LON 180.0f + +static const int8_t declination_table[13][37] = \ +{ + 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, \ + -66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46, 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, \ + -3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, \ + 29, 30, 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, \ + -40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21, 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, \ + 8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, \ + 10, 13, 15, 16, 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, \ + -10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12, 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, \ + -14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10, 9, 9, 9, \ + 9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, \ + 7, 8, 9, 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, \ + 0, 0, 0, 1, 3, 5, 7, 8, 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, \ + 0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8, 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, \ + 0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6, 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, \ + -16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5, 4, 8, 12, 15, 17, 18, 16, \ + 12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, \ + 0, 4, 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, \ + 13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3 +}; + +static float get_lookup_table_val(unsigned lat, unsigned lon); + +__EXPORT float get_mag_declination(float lat, float lon) +{ + /* + * If the values exceed valid ranges, return zero as default + * as we have no way of knowing what the closest real value + * would be. + */ + if (lat < -90.0f || lat > 90.0f || + lon < -180.0f || lon > 180.0f) { + return 0.0f; + } + + /* round down to nearest sampling resolution */ + int min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES; + int min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES; + + /* for the rare case of hitting the bounds exactly + * the rounding logic wouldn't fit, so enforce it. + */ + + /* limit to table bounds - required for maxima even when table spans full globe range */ + if (lat <= SAMPLING_MIN_LAT) { + min_lat = SAMPLING_MIN_LAT; + } + + if (lat >= SAMPLING_MAX_LAT) { + min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; + } + + if (lon <= SAMPLING_MIN_LON) { + min_lon = SAMPLING_MIN_LON; + } + + if (lon >= SAMPLING_MAX_LON) { + min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; + } + + /* find index of nearest low sampling point */ + unsigned min_lat_index = (-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES; + unsigned min_lon_index = (-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES; + + float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index); + float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1); + float declination_ne = get_lookup_table_val(min_lat_index + 1, min_lon_index + 1); + float declination_nw = get_lookup_table_val(min_lat_index + 1, min_lon_index); + + /* perform bilinear interpolation on the four grid corners */ + + float declination_min = ((lon - min_lon) / SAMPLING_RES) * (declination_se - declination_sw) + declination_sw; + float declination_max = ((lon - min_lon) / SAMPLING_RES) * (declination_ne - declination_nw) + declination_nw; + + return ((lat - min_lat) / SAMPLING_RES) * (declination_max - declination_min) + declination_min; +} + +float get_lookup_table_val(unsigned lat_index, unsigned lon_index) +{ + return declination_table[lat_index][lon_index]; +} \ No newline at end of file diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h b/src/lib/geo/geo_mag_declination.h similarity index 72% rename from src/modules/fixedwing_att_control/fixedwing_att_control_rate.h rename to src/lib/geo/geo_mag_declination.h index 500e3e1971..0ac062d6d4 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h +++ b/src/lib/geo/geo_mag_declination.h @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * + * Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -14,7 +12,7 @@ * 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 + * 3. Neither the name MAVGEO nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * @@ -33,16 +31,17 @@ * ****************************************************************************/ -/* @file Fixed Wing Attitude Rate Control */ +/** +* @file geo_mag_declination.h +* +* Calculation / lookup table for earth magnetic field declination. +* +*/ -#ifndef FIXEDWING_ATT_CONTROL_RATE_H_ -#define FIXEDWING_ATT_CONTROL_RATE_H_ +#pragma once -#include -#include +__BEGIN_DECLS -int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], - struct actuator_controls_s *actuators); +__EXPORT float get_mag_declination(float lat, float lon); -#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */ +__END_DECLS diff --git a/src/lib/geo/module.mk b/src/lib/geo/module.mk index 30a2dc99fd..9500a2bccf 100644 --- a/src/lib/geo/module.mk +++ b/src/lib/geo/module.mk @@ -35,4 +35,5 @@ # Geo library # -SRCS = geo.c +SRCS = geo.c \ + geo_mag_declination.c diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp index 1039b4a091..c555a0a692 100644 --- a/src/lib/launchdetection/CatapultLaunchMethod.cpp +++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -10,9 +10,9 @@ * 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 documentation4 and/or other materials provided with the + * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 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. * @@ -33,20 +33,25 @@ /** * @file CatapultLaunchMethod.cpp - * Catpult Launch detection + * Catapult Launch detection + * + * @author Thomas Gubler * - * Authors and acknowledgements in header. */ #include "CatapultLaunchMethod.h" #include -CatapultLaunchMethod::CatapultLaunchMethod() : +namespace launchdetection +{ + +CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) : + SuperBlock(parent, "CAT"), last_timestamp(hrt_absolute_time()), integrator(0.0f), launchDetected(false), - threshold_accel(NULL, "LAUN_CAT_A", false), - threshold_time(NULL, "LAUN_CAT_T", false) + threshold_accel(this, "A"), + threshold_time(this, "T") { } @@ -83,14 +88,11 @@ bool CatapultLaunchMethod::getLaunchDetected() return launchDetected; } -void CatapultLaunchMethod::updateParams() -{ - threshold_accel.update(); - threshold_time.update(); -} void CatapultLaunchMethod::reset() { integrator = 0.0f; launchDetected = false; } + +} diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h index b8476b4c87..23757f6f37 100644 --- a/src/lib/launchdetection/CatapultLaunchMethod.h +++ b/src/lib/launchdetection/CatapultLaunchMethod.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -10,9 +10,9 @@ * 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 documentation4 and/or other materials provided with the + * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 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. * @@ -44,17 +44,20 @@ #include "LaunchMethod.h" #include +#include #include -class CatapultLaunchMethod : public LaunchMethod +namespace launchdetection +{ + +class CatapultLaunchMethod : public LaunchMethod, public control::SuperBlock { public: - CatapultLaunchMethod(); + CatapultLaunchMethod(SuperBlock *parent); ~CatapultLaunchMethod(); void update(float accel_x); bool getLaunchDetected(); - void updateParams(); void reset(); private: @@ -68,3 +71,5 @@ private: }; #endif /* CATAPULTLAUNCHMETHOD_H_ */ + +} diff --git a/src/lib/launchdetection/LaunchDetector.cpp b/src/lib/launchdetection/LaunchDetector.cpp index 4109a90bad..3bf47bbb03 100644 --- a/src/lib/launchdetection/LaunchDetector.cpp +++ b/src/lib/launchdetection/LaunchDetector.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -12,7 +12,7 @@ * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 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. * @@ -30,24 +30,27 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ - /** * @file launchDetection.cpp * Auto Detection for different launch methods (e.g. catapult) * - * Authors and acknowledgements in header. + * @author Thomas Gubler */ #include "LaunchDetector.h" #include "CatapultLaunchMethod.h" #include +namespace launchdetection +{ + LaunchDetector::LaunchDetector() : - launchdetection_on(NULL, "LAUN_ALL_ON", false), - throttlePreTakeoff(NULL, "LAUN_THR_PRE", false) + SuperBlock(NULL, "LAUN"), + launchdetection_on(this, "ALL_ON"), + throttlePreTakeoff(this, "THR_PRE") { /* init all detectors */ - launchMethods[0] = new CatapultLaunchMethod(); + launchMethods[0] = new CatapultLaunchMethod(this); /* update all parameters of all detectors */ @@ -87,12 +90,4 @@ bool LaunchDetector::getLaunchDetected() return false; } -void LaunchDetector::updateParams() { - - launchdetection_on.update(); - throttlePreTakeoff.update(); - - for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) { - launchMethods[i]->updateParams(); - } } diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h index 05708c5262..1a214b66ee 100644 --- a/src/lib/launchdetection/LaunchDetector.h +++ b/src/lib/launchdetection/LaunchDetector.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -10,9 +10,9 @@ * 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 documentation4 and/or other materials provided with the + * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 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. * @@ -45,10 +45,13 @@ #include #include "LaunchMethod.h" - +#include #include -class __EXPORT LaunchDetector +namespace launchdetection +{ + +class __EXPORT LaunchDetector : public control::SuperBlock { public: LaunchDetector(); @@ -57,7 +60,6 @@ public: void update(float accel_x); bool getLaunchDetected(); - void updateParams(); bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); }; float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); } @@ -72,5 +74,6 @@ private: }; +} #endif // LAUNCHDETECTOR_H diff --git a/src/lib/launchdetection/LaunchMethod.h b/src/lib/launchdetection/LaunchMethod.h index 0cfbab3e09..e04467f6a4 100644 --- a/src/lib/launchdetection/LaunchMethod.h +++ b/src/lib/launchdetection/LaunchMethod.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -10,9 +10,9 @@ * 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 documentation4 and/or other materials provided with the + * the documentation and/or other materials provided with the * distribution. - * 3. Neither the name ECL nor the names of its contributors may be + * 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. * @@ -41,15 +41,20 @@ #ifndef LAUNCHMETHOD_H_ #define LAUNCHMETHOD_H_ +namespace launchdetection +{ + class LaunchMethod { public: virtual void update(float accel_x) = 0; virtual bool getLaunchDetected() = 0; - virtual void updateParams() = 0; virtual void reset() = 0; + protected: private: }; +} + #endif /* LAUNCHMETHOD_H_ */ diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c index 45d7957f11..8df8c696c2 100644 --- a/src/lib/launchdetection/launchdetection_params.c +++ b/src/lib/launchdetection/launchdetection_params.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -18,7 +17,7 @@ * 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 + * "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, diff --git a/src/lib/launchdetection/module.mk b/src/lib/launchdetection/module.mk index 13648b74ca..de0174e372 100644 --- a/src/lib/launchdetection/module.mk +++ b/src/lib/launchdetection/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved. +# Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions diff --git a/src/lib/mathlib/CMSIS/Include/arm_math.h b/src/lib/mathlib/CMSIS/Include/arm_math.h index 6f66f9ee3e..61d3a3b61f 100644 --- a/src/lib/mathlib/CMSIS/Include/arm_math.h +++ b/src/lib/mathlib/CMSIS/Include/arm_math.h @@ -5193,7 +5193,7 @@ void arm_rfft_fast_f32( *pIa = Ialpha; /* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */ - *pIb = -0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta; + *pIb = (float32_t)-0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta; } diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp index 3699d9bce3..6f640c9f9a 100644 --- a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp +++ b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp @@ -69,7 +69,7 @@ float LowPassFilter2p::apply(float sample) // do the filtering float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2; if (isnan(delay_element_0) || isinf(delay_element_0)) { - // don't allow bad values to propogate via the filter + // don't allow bad values to propagate via the filter delay_element_0 = sample; } float output = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2; @@ -81,5 +81,10 @@ float LowPassFilter2p::apply(float sample) return output; } +float LowPassFilter2p::reset(float sample) { + _delay_element_1 = _delay_element_2 = sample; + return apply(sample); +} + } // namespace math diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.hpp b/src/lib/mathlib/math/filter/LowPassFilter2p.hpp index 208ec98d4e..74cd5d78c0 100644 --- a/src/lib/mathlib/math/filter/LowPassFilter2p.hpp +++ b/src/lib/mathlib/math/filter/LowPassFilter2p.hpp @@ -52,18 +52,30 @@ public: _delay_element_1 = _delay_element_2 = 0; } - // change parameters + /** + * Change filter parameters + */ void set_cutoff_frequency(float sample_freq, float cutoff_freq); - // apply - Add a new raw value to the filter - // and retrieve the filtered result + /** + * Add a new raw value to the filter + * + * @return retrieve the filtered result + */ float apply(float sample); - // return the cutoff frequency + /** + * Return the cutoff frequency + */ float get_cutoff_freq(void) const { return _cutoff_freq; } + /** + * Reset the filter state to this value + */ + float reset(float sample); + private: float _cutoff_freq; float _a1; diff --git a/src/lib/version/version.h b/src/lib/version/version.h index af733aaf06..d8ccb67748 100644 --- a/src/lib/version/version.h +++ b/src/lib/version/version.h @@ -59,4 +59,8 @@ #define HW_ARCH "PX4FMU_V2" #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE +#define HW_ARCH "AEROCORE" +#endif + #endif /* VERSION_H_ */ diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp deleted file mode 100644 index 668bac5d9c..0000000000 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ /dev/null @@ -1,815 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. - * - * 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 KalmanNav.cpp - * - * Kalman filter navigation code - */ - -#include - -#include "KalmanNav.hpp" -#include -#include - -// constants -// Titterton pg. 52 -static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s -static const float R0 = 6378137.0f; // earth radius, m -static const float g0 = 9.806f; // standard gravitational accel. m/s^2 -static const int8_t ret_ok = 0; // no error in function -static const int8_t ret_error = -1; // error occurred - -KalmanNav::KalmanNav(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - // subscriptions - _sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz - _gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz - _param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz - // publications - _pos(&getPublications(), ORB_ID(vehicle_global_position)), - _localPos(&getPublications(), ORB_ID(vehicle_local_position)), - _att(&getPublications(), ORB_ID(vehicle_attitude)), - // timestamps - _pubTimeStamp(hrt_absolute_time()), - _predictTimeStamp(hrt_absolute_time()), - _attTimeStamp(hrt_absolute_time()), - _outTimeStamp(hrt_absolute_time()), - // frame count - _navFrames(0), - // miss counts - _miss(0), - // accelerations - fN(0), fE(0), fD(0), - // state - phi(0), theta(0), psi(0), - vN(0), vE(0), vD(0), - lat(0), lon(0), alt(0), - lat0(0), lon0(0), alt0(0), - // parameters for ground station - _vGyro(this, "V_GYRO"), - _vAccel(this, "V_ACCEL"), - _rMag(this, "R_MAG"), - _rGpsVel(this, "R_GPS_VEL"), - _rGpsPos(this, "R_GPS_POS"), - _rGpsAlt(this, "R_GPS_ALT"), - _rPressAlt(this, "R_PRESS_ALT"), - _rAccel(this, "R_ACCEL"), - _magDip(this, "ENV_MAG_DIP"), - _magDec(this, "ENV_MAG_DEC"), - _g(this, "ENV_G"), - _faultPos(this, "FAULT_POS"), - _faultAtt(this, "FAULT_ATT"), - _attitudeInitialized(false), - _positionInitialized(false), - _attitudeInitCounter(0) -{ - using namespace math; - - F.zero(); - G.zero(); - V.zero(); - HAtt.zero(); - RAtt.zero(); - HPos.zero(); - RPos.zero(); - - // initial state covariance matrix - P0.identity(); - P0 *= 0.01f; - P = P0; - - // initial state - phi = 0.0f; - theta = 0.0f; - psi = 0.0f; - vN = 0.0f; - vE = 0.0f; - vD = 0.0f; - lat = 0.0f; - lon = 0.0f; - alt = 0.0f; - - // initialize rotation quaternion with a single raw sensor measurement - _sensors.update(); - q = init( - _sensors.accelerometer_m_s2[0], - _sensors.accelerometer_m_s2[1], - _sensors.accelerometer_m_s2[2], - _sensors.magnetometer_ga[0], - _sensors.magnetometer_ga[1], - _sensors.magnetometer_ga[2]); - - // initialize dcm - C_nb = q.to_dcm(); - - // HPos is constant - HPos(0, 3) = 1.0f; - HPos(1, 4) = 1.0f; - HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F; - HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F; - HPos(4, 8) = 1.0f; - HPos(5, 8) = 1.0f; - - // initialize all parameters - updateParams(); -} - -math::Quaternion KalmanNav::init(float ax, float ay, float az, float mx, float my, float mz) -{ - float initialRoll, initialPitch; - float cosRoll, sinRoll, cosPitch, sinPitch; - float magX, magY; - float initialHdg, cosHeading, sinHeading; - - initialRoll = atan2(-ay, -az); - initialPitch = atan2(ax, -az); - - cosRoll = cosf(initialRoll); - sinRoll = sinf(initialRoll); - cosPitch = cosf(initialPitch); - sinPitch = sinf(initialPitch); - - magX = mx * cosPitch + my * sinRoll * sinPitch + mz * cosRoll * sinPitch; - - magY = my * cosRoll - mz * sinRoll; - - initialHdg = atan2f(-magY, magX); - - cosRoll = cosf(initialRoll * 0.5f); - sinRoll = sinf(initialRoll * 0.5f); - - cosPitch = cosf(initialPitch * 0.5f); - sinPitch = sinf(initialPitch * 0.5f); - - cosHeading = cosf(initialHdg * 0.5f); - sinHeading = sinf(initialHdg * 0.5f); - - float q0 = cosRoll * cosPitch * cosHeading + sinRoll * sinPitch * sinHeading; - float q1 = sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading; - float q2 = cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading; - float q3 = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading; - - return math::Quaternion(q0, q1, q2, q3); - -} - -void KalmanNav::update() -{ - using namespace math; - - struct pollfd fds[1]; - fds[0].fd = _sensors.getHandle(); - fds[0].events = POLLIN; - - // poll for new data - int ret = poll(fds, 1, 1000); - - if (ret < 0) { - // XXX this is seriously bad - should be an emergency - return; - - } else if (ret == 0) { // timeout - return; - } - - // get new timestamp - uint64_t newTimeStamp = hrt_absolute_time(); - - // check updated subscriptions - if (_param_update.updated()) updateParams(); - - bool gpsUpdate = _gps.updated(); - bool sensorsUpdate = _sensors.updated(); - - // get new information from subscriptions - // this clears update flag - updateSubscriptions(); - - // initialize attitude when sensors online - if (!_attitudeInitialized && sensorsUpdate) { - if (correctAtt() == ret_ok) _attitudeInitCounter++; - - if (_attitudeInitCounter > 100) { - warnx("initialized EKF attitude"); - warnx("phi: %8.4f, theta: %8.4f, psi: %8.4f", - double(phi), double(theta), double(psi)); - _attitudeInitialized = true; - } - } - - // initialize position when gps received - if (!_positionInitialized && - _attitudeInitialized && // wait for attitude first - gpsUpdate && - _gps.fix_type > 2 - //&& _gps.counter_pos_valid > 10 - ) { - vN = _gps.vel_n_m_s; - vE = _gps.vel_e_m_s; - vD = _gps.vel_d_m_s; - setLatDegE7(_gps.lat); - setLonDegE7(_gps.lon); - setAltE3(_gps.alt); - // set reference position for - // local position - lat0 = lat; - lon0 = lon; - alt0 = alt; - // XXX map_projection has internal global - // states that multiple things could change, - // should make map_projection take reference - // lat/lon and not have init - map_projection_init(lat0, lon0); - _positionInitialized = true; - warnx("initialized EKF state with GPS"); - warnx("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f", - double(vN), double(vE), double(vD), - lat, lon, double(alt)); - } - - // prediction step - // using sensors timestamp so we can account for packet lag - float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f; - //printf("dt: %15.10f\n", double(dt)); - _predictTimeStamp = _sensors.timestamp; - - // don't predict if time greater than a second - if (dt < 1.0f) { - predictState(dt); - predictStateCovariance(dt); - // count fast frames - _navFrames += 1; - } - - // count times 100 Hz rate isn't met - if (dt > 0.01f) _miss++; - - // gps correction step - if (_positionInitialized && gpsUpdate) { - correctPos(); - } - - // attitude correction step - if (_attitudeInitialized // initialized - && sensorsUpdate // new data - && _sensors.timestamp - _attTimeStamp > 1e6 / 50 // 50 Hz - ) { - _attTimeStamp = _sensors.timestamp; - correctAtt(); - } - - // publication - if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz - _pubTimeStamp = newTimeStamp; - - updatePublications(); - } - - // output - if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz - _outTimeStamp = newTimeStamp; - //printf("nav: %4d Hz, miss #: %4d\n", - // _navFrames / 10, _miss / 10); - _navFrames = 0; - _miss = 0; - } -} - -void KalmanNav::updatePublications() -{ - using namespace math; - - // global position publication - _pos.timestamp = _pubTimeStamp; - _pos.time_gps_usec = _gps.timestamp_position; - _pos.global_valid = true; - _pos.lat = lat * M_RAD_TO_DEG; - _pos.lon = lon * M_RAD_TO_DEG; - _pos.alt = float(alt); - _pos.vel_n = vN; - _pos.vel_e = vE; - _pos.vel_d = vD; - _pos.yaw = psi; - - // local position publication - float x; - float y; - bool landed = alt < (alt0 + 0.1); // XXX improve? - map_projection_project(lat, lon, &x, &y); - _localPos.timestamp = _pubTimeStamp; - _localPos.xy_valid = true; - _localPos.z_valid = true; - _localPos.v_xy_valid = true; - _localPos.v_z_valid = true; - _localPos.x = x; - _localPos.y = y; - _localPos.z = alt0 - alt; - _localPos.vx = vN; - _localPos.vy = vE; - _localPos.vz = vD; - _localPos.yaw = psi; - _localPos.xy_global = true; - _localPos.z_global = true; - _localPos.ref_timestamp = _pubTimeStamp; - _localPos.ref_lat = getLatDegE7(); - _localPos.ref_lon = getLonDegE7(); - _localPos.ref_alt = 0; - _localPos.landed = landed; - - // attitude publication - _att.timestamp = _pubTimeStamp; - _att.roll = phi; - _att.pitch = theta; - _att.yaw = psi; - _att.rollspeed = _sensors.gyro_rad_s[0]; - _att.pitchspeed = _sensors.gyro_rad_s[1]; - _att.yawspeed = _sensors.gyro_rad_s[2]; - // TODO, add gyro offsets to filter - _att.rate_offsets[0] = 0.0f; - _att.rate_offsets[1] = 0.0f; - _att.rate_offsets[2] = 0.0f; - - for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) - _att.R[i][j] = C_nb(i, j); - - for (int i = 0; i < 4; i++) _att.q[i] = q(i); - - _att.R_valid = true; - _att.q_valid = true; - - // selectively update publications, - // do NOT call superblock do-all method - if (_positionInitialized) { - _pos.update(); - _localPos.update(); - } - - if (_attitudeInitialized) - _att.update(); -} - -int KalmanNav::predictState(float dt) -{ - using namespace math; - - // trig - float sinL = sinf(lat); - float cosL = cosf(lat); - float cosLSing = cosf(lat); - - // prevent singularity - if (fabsf(cosLSing) < 0.01f) { - if (cosLSing > 0) cosLSing = 0.01; - else cosLSing = -0.01; - } - - // attitude prediction - if (_attitudeInitialized) { - Vector<3> w(_sensors.gyro_rad_s); - - // attitude - q = q + q.derivative(w) * dt; - - // renormalize quaternion if needed - if (fabsf(q.length() - 1.0f) > 1e-4f) { - q.normalize(); - } - - // C_nb update - C_nb = q.to_dcm(); - - // euler update - Vector<3> euler = C_nb.to_euler(); - phi = euler.data[0]; - theta = euler.data[1]; - psi = euler.data[2]; - - // specific acceleration in nav frame - Vector<3> accelB(_sensors.accelerometer_m_s2); - Vector<3> accelN = C_nb * accelB; - fN = accelN(0); - fE = accelN(1); - fD = accelN(2); - } - - // position prediction - if (_positionInitialized) { - // neglects angular deflections in local gravity - // see Titerton pg. 70 - float R = R0 + float(alt); - float LDot = vN / R; - float lDot = vE / (cosLSing * R); - float rotRate = 2 * omega + lDot; - - // XXX position prediction using speed - float vNDot = fN - vE * rotRate * sinL + - vD * LDot; - float vDDot = fD - vE * rotRate * cosL - - vN * LDot + _g.get(); - float vEDot = fE + vN * rotRate * sinL + - vDDot * rotRate * cosL; - - // rectangular integration - vN += vNDot * dt; - vE += vEDot * dt; - vD += vDDot * dt; - lat += double(LDot * dt); - lon += double(lDot * dt); - alt += double(-vD * dt); - } - - return ret_ok; -} - -int KalmanNav::predictStateCovariance(float dt) -{ - using namespace math; - - // trig - float sinL = sinf(lat); - float cosL = cosf(lat); - float cosLSq = cosL * cosL; - float tanL = tanf(lat); - - // prepare for matrix - float R = R0 + float(alt); - float RSq = R * R; - - // F Matrix - // Titterton pg. 291 - - F(0, 1) = -(omega * sinL + vE * tanL / R); - F(0, 2) = vN / R; - F(0, 4) = 1.0f / R; - F(0, 6) = -omega * sinL; - F(0, 8) = -vE / RSq; - - F(1, 0) = omega * sinL + vE * tanL / R; - F(1, 2) = omega * cosL + vE / R; - F(1, 3) = -1.0f / R; - F(1, 8) = vN / RSq; - - F(2, 0) = -vN / R; - F(2, 1) = -omega * cosL - vE / R; - F(2, 4) = -tanL / R; - F(2, 6) = -omega * cosL - vE / (R * cosLSq); - F(2, 8) = vE * tanL / RSq; - - F(3, 1) = -fD; - F(3, 2) = fE; - F(3, 3) = vD / R; - F(3, 4) = -2 * (omega * sinL + vE * tanL / R); - F(3, 5) = vN / R; - F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq)); - F(3, 8) = (vE * vE * tanL - vN * vD) / RSq; - - F(4, 0) = fD; - F(4, 2) = -fN; - F(4, 3) = 2 * omega * sinL + vE * tanL / R; - F(4, 4) = (vN * tanL + vD) / R; - F(4, 5) = 2 * omega * cosL + vE / R; - F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) + - vN * vE / (R * cosLSq); - F(4, 8) = -vE * (vN * tanL + vD) / RSq; - - F(5, 0) = -fE; - F(5, 1) = fN; - F(5, 3) = -2 * vN / R; - F(5, 4) = -2 * (omega * cosL + vE / R); - F(5, 6) = 2 * omega * vE * sinL; - F(5, 8) = (vN * vN + vE * vE) / RSq; - - F(6, 3) = 1 / R; - F(6, 8) = -vN / RSq; - - F(7, 4) = 1 / (R * cosL); - F(7, 6) = vE * tanL / (R * cosL); - F(7, 8) = -vE / (cosL * RSq); - - F(8, 5) = -1; - - // G Matrix - // Titterton pg. 291 - G(0, 0) = -C_nb(0, 0); - G(0, 1) = -C_nb(0, 1); - G(0, 2) = -C_nb(0, 2); - G(1, 0) = -C_nb(1, 0); - G(1, 1) = -C_nb(1, 1); - G(1, 2) = -C_nb(1, 2); - G(2, 0) = -C_nb(2, 0); - G(2, 1) = -C_nb(2, 1); - G(2, 2) = -C_nb(2, 2); - - G(3, 3) = C_nb(0, 0); - G(3, 4) = C_nb(0, 1); - G(3, 5) = C_nb(0, 2); - G(4, 3) = C_nb(1, 0); - G(4, 4) = C_nb(1, 1); - G(4, 5) = C_nb(1, 2); - G(5, 3) = C_nb(2, 0); - G(5, 4) = C_nb(2, 1); - G(5, 5) = C_nb(2, 2); - - // continuous prediction equations - // for discrete time EKF - // http://en.wikipedia.org/wiki/Extended_Kalman_filter - P = P + (F * P + P * F.transposed() + G * V * G.transposed()) * dt; - - return ret_ok; -} - -int KalmanNav::correctAtt() -{ - using namespace math; - - // trig - float cosPhi = cosf(phi); - float cosTheta = cosf(theta); - // float cosPsi = cosf(psi); - float sinPhi = sinf(phi); - float sinTheta = sinf(theta); - // float sinPsi = sinf(psi); - - // mag predicted measurement - // choosing some typical magnetic field properties, - // TODO dip/dec depend on lat/ lon/ time - //float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level - float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north - - // compensate roll and pitch, but not yaw - // XXX take the vectors out of the C_nb matrix to avoid singularities - math::Matrix<3,3> C_rp; - C_rp.from_euler(phi, theta, 0.0f);//C_nb.transposed(); - - // mag measurement - Vector<3> magBody(_sensors.magnetometer_ga); - - // transform to earth frame - Vector<3> magNav = C_rp * magBody; - - // calculate error between estimate and measurement - // apply declination correction for true heading as well. - float yMag = -atan2f(magNav(1),magNav(0)) - psi - dec; - if (yMag > M_PI_F) yMag -= 2*M_PI_F; - if (yMag < -M_PI_F) yMag += 2*M_PI_F; - - // accel measurement - Vector<3> zAccel(_sensors.accelerometer_m_s2); - float accelMag = zAccel.length(); - zAccel.normalize(); - - // ignore accel correction when accel mag not close to g - Matrix<4,4> RAttAdjust = RAtt; - - bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f; - - if (ignoreAccel) { - RAttAdjust(1, 1) = 1.0e10; - RAttAdjust(2, 2) = 1.0e10; - RAttAdjust(3, 3) = 1.0e10; - - } else { - //printf("correcting attitude with accel\n"); - } - - // accel predicted measurement - Vector<3> zAccelHat = (C_nb.transposed() * Vector<3>(0, 0, -_g.get())).normalized(); - - // calculate residual - Vector<4> y(yMag, zAccel(0) - zAccelHat(0), zAccel(1) - zAccelHat(1), zAccel(2) - zAccelHat(2)); - - // HMag - HAtt(0, 2) = 1; - - // HAccel - HAtt(1, 1) = cosTheta; - HAtt(2, 0) = -cosPhi * cosTheta; - HAtt(2, 1) = sinPhi * sinTheta; - HAtt(3, 0) = sinPhi * cosTheta; - HAtt(3, 1) = cosPhi * sinTheta; - - // compute correction - // http://en.wikipedia.org/wiki/Extended_Kalman_filter - Matrix<4, 4> S = HAtt * P * HAtt.transposed() + RAttAdjust; // residual covariance - Matrix<9, 4> K = P * HAtt.transposed() * S.inversed(); - Vector<9> xCorrect = K * y; - - // check correciton is sane - for (size_t i = 0; i < xCorrect.get_size(); i++) { - float val = xCorrect(i); - - if (isnan(val) || isinf(val)) { - // abort correction and return - warnx("numerical failure in att correction"); - // reset P matrix to P0 - P = P0; - return ret_error; - } - } - - // correct state - if (!ignoreAccel) { - phi += xCorrect(PHI); - theta += xCorrect(THETA); - } - - psi += xCorrect(PSI); - - // attitude also affects nav velocities - if (_positionInitialized) { - vN += xCorrect(VN); - vE += xCorrect(VE); - vD += xCorrect(VD); - } - - // update state covariance - // http://en.wikipedia.org/wiki/Extended_Kalman_filter - P = P - K * HAtt * P; - - // fault detection - float beta = y * (S.inversed() * y); - - if (beta > _faultAtt.get()) { - warnx("fault in attitude: beta = %8.4f", (double)beta); - warnx("y:"); y.print(); - } - - // update quaternions from euler - // angle correction - q.from_euler(phi, theta, psi); - - return ret_ok; -} - -int KalmanNav::correctPos() -{ - using namespace math; - - // residual - Vector<6> y; - y(0) = _gps.vel_n_m_s - vN; - y(1) = _gps.vel_e_m_s - vE; - y(2) = double(_gps.lat) - double(lat) * 1.0e7 * M_RAD_TO_DEG; - y(3) = double(_gps.lon) - double(lon) * 1.0e7 * M_RAD_TO_DEG; - y(4) = _gps.alt / 1.0e3f - alt; - y(5) = _sensors.baro_alt_meter - alt; - - // compute correction - // http://en.wikipedia.org/wiki/Extended_Kalman_filter - Matrix<6,6> S = HPos * P * HPos.transposed() + RPos; // residual covariance - Matrix<9,6> K = P * HPos.transposed() * S.inversed(); - Vector<9> xCorrect = K * y; - - // check correction is sane - for (size_t i = 0; i < xCorrect.get_size(); i++) { - float val = xCorrect(i); - - if (!isfinite(val)) { - // abort correction and return - warnx("numerical failure in gps correction"); - // fallback to GPS - vN = _gps.vel_n_m_s; - vE = _gps.vel_e_m_s; - vD = _gps.vel_d_m_s; - setLatDegE7(_gps.lat); - setLonDegE7(_gps.lon); - setAltE3(_gps.alt); - // reset P matrix to P0 - P = P0; - return ret_error; - } - } - - // correct state - vN += xCorrect(VN); - vE += xCorrect(VE); - vD += xCorrect(VD); - lat += double(xCorrect(LAT)); - lon += double(xCorrect(LON)); - alt += xCorrect(ALT); - - // update state covariance - // http://en.wikipedia.org/wiki/Extended_Kalman_filter - P = P - K * HPos * P; - - // fault detetcion - float beta = y * (S.inversed() * y); - - static int counter = 0; - if (beta > _faultPos.get() && (counter % 10 == 0)) { - warnx("fault in gps: beta = %8.4f", (double)beta); - warnx("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f, baro: %8.4f", - double(y(0) / sqrtf(RPos(0, 0))), - double(y(1) / sqrtf(RPos(1, 1))), - double(y(2) / sqrtf(RPos(2, 2))), - double(y(3) / sqrtf(RPos(3, 3))), - double(y(4) / sqrtf(RPos(4, 4))), - double(y(5) / sqrtf(RPos(5, 5)))); - } - counter++; - - return ret_ok; -} - -void KalmanNav::updateParams() -{ - using namespace math; - using namespace control; - SuperBlock::updateParams(); - - // gyro noise - V(0, 0) = _vGyro.get(); // gyro x, rad/s - V(1, 1) = _vGyro.get(); // gyro y - V(2, 2) = _vGyro.get(); // gyro z - - // accel noise - V(3, 3) = _vAccel.get(); // accel x, m/s^2 - V(4, 4) = _vAccel.get(); // accel y - V(5, 5) = _vAccel.get(); // accel z - - // magnetometer noise - float noiseMin = 1e-6f; - float noiseMagSq = _rMag.get() * _rMag.get(); - - if (noiseMagSq < noiseMin) noiseMagSq = noiseMin; - - RAtt(0, 0) = noiseMagSq; // normalized direction - - // accelerometer noise - float noiseAccelSq = _rAccel.get() * _rAccel.get(); - - // bound noise to prevent singularities - if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin; - - RAtt(1, 1) = noiseAccelSq; // normalized direction - RAtt(2, 2) = noiseAccelSq; - RAtt(3, 3) = noiseAccelSq; - - // gps noise - float R = R0 + float(alt); - float cosLSing = cosf(lat); - - // prevent singularity - if (fabsf(cosLSing) < 0.01f) { - if (cosLSing > 0) cosLSing = 0.01; - else cosLSing = -0.01; - } - - float noiseVel = _rGpsVel.get(); - float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R; - float noiseLonDegE7 = noiseLatDegE7 / cosLSing; - float noiseGpsAlt = _rGpsAlt.get(); - float noisePressAlt = _rPressAlt.get(); - - // bound noise to prevent singularities - if (noiseVel < noiseMin) noiseVel = noiseMin; - - if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin; - - if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin; - - if (noiseGpsAlt < noiseMin) noiseGpsAlt = noiseMin; - - if (noisePressAlt < noiseMin) noisePressAlt = noiseMin; - - RPos(0, 0) = noiseVel * noiseVel; // vn - RPos(1, 1) = noiseVel * noiseVel; // ve - RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat - RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon - RPos(4, 4) = noiseGpsAlt * noiseGpsAlt; // h - RPos(5, 5) = noisePressAlt * noisePressAlt; // h - // XXX, note that RPos depends on lat, so updateParams should - // be called if lat changes significantly -} diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp deleted file mode 100644 index 46ee4b6c8e..0000000000 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp +++ /dev/null @@ -1,192 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. - * - * 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 KalmanNav.hpp - * - * kalman filter navigation code - */ - -#pragma once - -//#define MATRIX_ASSERT -//#define VECTOR_ASSERT - -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include -#include - -/** - * Kalman filter navigation class - * http://en.wikipedia.org/wiki/Extended_Kalman_filter - * Discrete-time extended Kalman filter - */ -class KalmanNav : public control::SuperBlock -{ -public: - /** - * Constructor - */ - KalmanNav(SuperBlock *parent, const char *name); - - /** - * Deconstuctor - */ - - virtual ~KalmanNav() {}; - - math::Quaternion init(float ax, float ay, float az, float mx, float my, float mz); - - /** - * The main callback function for the class - */ - void update(); - - - /** - * Publication update - */ - virtual void updatePublications(); - - /** - * State prediction - * Continuous, non-linear - */ - int predictState(float dt); - - /** - * State covariance prediction - * Continuous, linear - */ - int predictStateCovariance(float dt); - - /** - * Attitude correction - */ - int correctAtt(); - - /** - * Position correction - */ - int correctPos(); - - /** - * Overloaded update parameters - */ - virtual void updateParams(); -protected: - // kalman filter - math::Matrix<9,9> F; /**< Jacobian(f,x), where dx/dt = f(x,u) */ - math::Matrix<9,6> G; /**< noise shaping matrix for gyro/accel */ - math::Matrix<9,9> P; /**< state covariance matrix */ - math::Matrix<9,9> P0; /**< initial state covariance matrix */ - math::Matrix<6,6> V; /**< gyro/ accel noise matrix */ - math::Matrix<4,9> HAtt; /**< attitude measurement matrix */ - math::Matrix<4,4> RAtt; /**< attitude measurement noise matrix */ - math::Matrix<6,9> HPos; /**< position measurement jacobian matrix */ - math::Matrix<6,6> RPos; /**< position measurement noise matrix */ - // attitude - math::Matrix<3,3> C_nb; /**< direction cosine matrix from body to nav frame */ - math::Quaternion q; /**< quaternion from body to nav frame */ - // subscriptions - control::UOrbSubscription _sensors; /**< sensors sub. */ - control::UOrbSubscription _gps; /**< gps sub. */ - control::UOrbSubscription _param_update; /**< parameter update sub. */ - // publications - control::UOrbPublication _pos; /**< position pub. */ - control::UOrbPublication _localPos; /**< local position pub. */ - control::UOrbPublication _att; /**< attitude pub. */ - // time stamps - uint64_t _pubTimeStamp; /**< output data publication time stamp */ - uint64_t _predictTimeStamp; /**< prediction time stamp */ - uint64_t _attTimeStamp; /**< attitude correction time stamp */ - uint64_t _outTimeStamp; /**< output time stamp */ - // frame count - uint16_t _navFrames; /**< navigation frames completed in output cycle */ - // miss counts - uint16_t _miss; /**< number of times fast prediction loop missed */ - // accelerations - float fN, fE, fD; /**< navigation frame acceleration */ - // states - enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT}; /**< state enumeration */ - float phi, theta, psi; /**< 3-2-1 euler angles */ - float vN, vE, vD; /**< navigation velocity, m/s */ - double lat, lon; /**< lat, lon radians */ - // parameters - float alt; /**< altitude, meters */ - double lat0, lon0; /**< reference latitude and longitude */ - float alt0; /**< refeerence altitude (ground height) */ - control::BlockParamFloat _vGyro; /**< gyro process noise */ - control::BlockParamFloat _vAccel; /**< accelerometer process noise */ - control::BlockParamFloat _rMag; /**< magnetometer measurement noise */ - control::BlockParamFloat _rGpsVel; /**< gps velocity measurement noise */ - control::BlockParamFloat _rGpsPos; /**< gps position measurement noise */ - control::BlockParamFloat _rGpsAlt; /**< gps altitude measurement noise */ - control::BlockParamFloat _rPressAlt; /**< press altitude measurement noise */ - control::BlockParamFloat _rAccel; /**< accelerometer measurement noise */ - control::BlockParamFloat _magDip; /**< magnetic inclination with level */ - control::BlockParamFloat _magDec; /**< magnetic declination, clockwise rotation */ - control::BlockParamFloat _g; /**< gravitational constant */ - control::BlockParamFloat _faultPos; /**< fault detection threshold for position */ - control::BlockParamFloat _faultAtt; /**< fault detection threshold for attitude */ - // status - bool _attitudeInitialized; - bool _positionInitialized; - uint16_t _attitudeInitCounter; - // accessors - int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); } - void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; } - int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); } - void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; } - int32_t getAltE3() { return int32_t(alt * 1.0e3); } - void setAltE3(int32_t val) { alt = double(val) / 1.0e3; } -}; diff --git a/src/modules/att_pos_estimator_ekf/kalman_main.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp deleted file mode 100644 index 3d20d4d2d6..0000000000 --- a/src/modules/att_pos_estimator_ekf/kalman_main.cpp +++ /dev/null @@ -1,157 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. - * Author: James Goppert - * - * 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 kalman_main.cpp - * Combined attitude / position estimator. - * - * @author James Goppert - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "KalmanNav.hpp" - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int daemon_task; /**< Handle of deamon task / thread */ - -/** - * Deamon management function. - */ -extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int kalman_demo_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - warnx("usage: att_pos_estimator_ekf {start|stop|status} [-p ]"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int att_pos_estimator_ekf_main(int argc, char *argv[]) -{ - - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - warnx("already running"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - - daemon_task = task_spawn_cmd("att_pos_estimator_ekf", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 30, - 8192, - kalman_demo_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - warnx("is running\n"); - exit(0); - - } else { - warnx("not started\n"); - exit(1); - } - - } - - usage("unrecognized command"); - exit(1); -} - -int kalman_demo_thread_main(int argc, char *argv[]) -{ - - warnx("starting"); - - using namespace math; - - thread_running = true; - - KalmanNav nav(NULL, "KF"); - - while (!thread_should_exit) { - nav.update(); - } - - warnx("exiting."); - - thread_running = false; - - return 0; -} diff --git a/src/modules/att_pos_estimator_ekf/params.c b/src/modules/att_pos_estimator_ekf/params.c deleted file mode 100644 index 4af5edeade..0000000000 --- a/src/modules/att_pos_estimator_ekf/params.c +++ /dev/null @@ -1,49 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. - * - * 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. - * - ****************************************************************************/ - -#include - -/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ -PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f); -PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_MAG, 0.8f); -PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.5f); -PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 2.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 3.0f); -PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f); -PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f); -PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f); -PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f); -PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f); -PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f); diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 620185fb77..2ec889efe8 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli - * Lorenz Meier + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,9 +32,12 @@ ****************************************************************************/ /* - * @file attitude_estimator_ekf_main.c + * @file attitude_estimator_ekf_main.cpp * * Extended Kalman Filter for Attitude Estimation. + * + * @author Tobias Naegeli + * @author Lorenz Meier */ #include @@ -111,7 +112,7 @@ usage(const char *reason) * Makefile does only apply to this management task. * * The actual stack size should be set in the call - * to task_create(). + * to task_spawn_cmd(). */ int attitude_estimator_ekf_main(int argc, char *argv[]) { @@ -277,7 +278,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds // XXX write this out to perf regs /* keep track of sensor updates */ - uint32_t sensor_last_count[3] = {0, 0, 0}; uint64_t sensor_last_timestamp[3] = {0, 0, 0}; struct attitude_estimator_ekf_params ekf_params; @@ -380,9 +380,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds uint8_t update_vect[3] = {0, 0, 0}; /* Fill in gyro measurements */ - if (sensor_last_count[0] != raw.gyro_counter) { + if (sensor_last_timestamp[0] != raw.timestamp) { update_vect[0] = 1; - sensor_last_count[0] = raw.gyro_counter; sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]); sensor_last_timestamp[0] = raw.timestamp; } @@ -392,11 +391,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds z_k[2] = raw.gyro_rad_s[2] - gyro_offsets[2]; /* update accelerometer measurements */ - if (sensor_last_count[1] != raw.accelerometer_counter) { + if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) { update_vect[1] = 1; - sensor_last_count[1] = raw.accelerometer_counter; sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]); - sensor_last_timestamp[1] = raw.timestamp; + sensor_last_timestamp[1] = raw.accelerometer_timestamp; } hrt_abstime vel_t = 0; @@ -410,7 +408,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds vel(2) = gps.vel_d_m_s; } - } else if (ekf_params.acc_comp == 2 && global_pos.global_valid && hrt_absolute_time() < global_pos.timestamp + 500000) { + } else if (ekf_params.acc_comp == 2 && gps.eph_m < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) { vel_valid = true; if (global_pos_updated) { vel_t = global_pos.timestamp; @@ -445,11 +443,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds z_k[5] = raw.accelerometer_m_s2[2] - acc(2); /* update magnetometer measurements */ - if (sensor_last_count[2] != raw.magnetometer_counter) { + if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) { update_vect[2] = 1; - sensor_last_count[2] = raw.magnetometer_counter; sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]); - sensor_last_timestamp[2] = raw.timestamp; + sensor_last_timestamp[2] = raw.magnetometer_timestamp; } z_k[6] = raw.magnetometer_ga[0]; @@ -477,6 +474,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds dt = 0.005f; parameters_update(&ekf_param_handles, &ekf_params); + /* update mag declination rotation matrix */ + R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl); + x_aposteriori_k[0] = z_k[0]; x_aposteriori_k[1] = z_k[1]; x_aposteriori_k[2] = z_k[2]; diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 4154e3db4a..3ff3d99229 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -40,6 +40,7 @@ */ #include "attitude_estimator_ekf_params.h" +#include /* Extended Kalman Filter covariances */ @@ -113,6 +114,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->yaw_off, &(p->yaw_off)); param_get(h->mag_decl, &(p->mag_decl)); + p->mag_decl *= M_PI / 180.0f; param_get(h->acc_comp, &(p->acc_comp)); diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk index d98647f999..99d0c5bf28 100644 --- a/src/modules/attitude_estimator_ekf/module.mk +++ b/src/modules/attitude_estimator_ekf/module.mk @@ -50,3 +50,5 @@ SRCS = attitude_estimator_ekf_main.cpp \ codegen/rtGetNaN.c \ codegen/norm.c \ codegen/cross.c + +MODULE_STACKSIZE = 1200 diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp index e79726613d..e55b011608 100755 --- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp +++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Hyon Lim - * Anton Babushkin + * Copyright (c) 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,6 +34,9 @@ /* * @file attitude_estimator_so3_main.cpp * + * @author Hyon Lim + * @author Anton Babushkin + * * Implementation of nonlinear complementary filters on the SO(3). * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer. * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix. @@ -131,7 +132,7 @@ usage(const char *reason) * Makefile does only apply to this management task. * * The actual stack size should be set in the call - * to task_create(). + * to task_spawn_cmd(). */ int attitude_estimator_so3_main(int argc, char *argv[]) { @@ -445,7 +446,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) // XXX write this out to perf regs /* keep track of sensor updates */ - uint32_t sensor_last_count[3] = {0, 0, 0}; uint64_t sensor_last_timestamp[3] = {0, 0, 0}; struct attitude_estimator_so3_params so3_comp_params; @@ -526,9 +526,8 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) uint8_t update_vect[3] = {0, 0, 0}; /* Fill in gyro measurements */ - if (sensor_last_count[0] != raw.gyro_counter) { + if (sensor_last_timestamp[0] != raw.timestamp) { update_vect[0] = 1; - sensor_last_count[0] = raw.gyro_counter; sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]); sensor_last_timestamp[0] = raw.timestamp; } @@ -538,11 +537,10 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) gyro[2] = raw.gyro_rad_s[2] - gyro_offsets[2]; /* update accelerometer measurements */ - if (sensor_last_count[1] != raw.accelerometer_counter) { + if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) { update_vect[1] = 1; - sensor_last_count[1] = raw.accelerometer_counter; sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]); - sensor_last_timestamp[1] = raw.timestamp; + sensor_last_timestamp[1] = raw.accelerometer_timestamp; } acc[0] = raw.accelerometer_m_s2[0]; @@ -550,11 +548,10 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) acc[2] = raw.accelerometer_m_s2[2]; /* update magnetometer measurements */ - if (sensor_last_count[2] != raw.magnetometer_counter) { + if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) { update_vect[2] = 1; - sensor_last_count[2] = raw.magnetometer_counter; sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]); - sensor_last_timestamp[2] = raw.timestamp; + sensor_last_timestamp[2] = raw.magnetometer_timestamp; } mag[0] = raw.magnetometer_ga[0]; diff --git a/src/modules/attitude_estimator_so3/module.mk b/src/modules/attitude_estimator_so3/module.mk index e29bb16a62..f52715abb1 100644 --- a/src/modules/attitude_estimator_so3/module.mk +++ b/src/modules/attitude_estimator_so3/module.mk @@ -6,3 +6,5 @@ MODULE_COMMAND = attitude_estimator_so3 SRCS = attitude_estimator_so3_main.cpp \ attitude_estimator_so3_params.c + +MODULE_STACKSIZE = 1200 diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 1cbdf9bf85..7180048ff2 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -194,13 +194,13 @@ int do_accel_calibration(int mavlink_fd) int32_t board_rotation_int; param_get(board_rotation_h, &(board_rotation_int)); enum Rotation board_rotation_id = (enum Rotation)board_rotation_int; - math::Matrix<3,3> board_rotation; + math::Matrix<3, 3> board_rotation; get_rot_matrix(board_rotation_id, &board_rotation); - math::Matrix<3,3> board_rotation_t = board_rotation.transposed(); + math::Matrix<3, 3> board_rotation_t = board_rotation.transposed(); math::Vector<3> accel_offs_vec(&accel_offs[0]); - math::Vector<3> accel_offs_rotated = board_rotation_t * accel_offs_vec; - math::Matrix<3,3> accel_T_mat(&accel_T[0][0]); - math::Matrix<3,3> accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation; + math::Vector<3> accel_offs_rotated = board_rotation_t *accel_offs_vec; + math::Matrix<3, 3> accel_T_mat(&accel_T[0][0]); + math::Matrix<3, 3> accel_T_rotated = board_rotation_t *accel_T_mat * board_rotation; accel_scale.x_offset = accel_offs_rotated(0); accel_scale.x_scale = accel_T_rotated(0, 0); @@ -277,11 +277,13 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float } } - if (old_done_count != done_count) + if (old_done_count != done_count) { mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 17 * done_count); + } - if (done) + if (done) { break; + } mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s", (!data_collected[0]) ? "x+ " : "", @@ -380,11 +382,13 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) d = d * d; accel_disp[i] = accel_disp[i] * (1.0f - w); - if (d > still_thr2 * 8.0f) + if (d > still_thr2 * 8.0f) { d = still_thr2 * 8.0f; + } - if (d > accel_disp[i]) + if (d > accel_disp[i]) { accel_disp[i] = d; + } } /* still detector with hysteresis */ @@ -432,33 +436,39 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) if (fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr && fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr) - return 0; // [ g, 0, 0 ] + fabsf(accel_ema[2]) < accel_err_thr) { + return 0; // [ g, 0, 0 ] + } if (fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr && fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr) - return 1; // [ -g, 0, 0 ] + fabsf(accel_ema[2]) < accel_err_thr) { + return 1; // [ -g, 0, 0 ] + } if (fabsf(accel_ema[0]) < accel_err_thr && fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr) - return 2; // [ 0, g, 0 ] + fabsf(accel_ema[2]) < accel_err_thr) { + return 2; // [ 0, g, 0 ] + } if (fabsf(accel_ema[0]) < accel_err_thr && fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr) - return 3; // [ 0, -g, 0 ] + fabsf(accel_ema[2]) < accel_err_thr) { + return 3; // [ 0, -g, 0 ] + } if (fabsf(accel_ema[0]) < accel_err_thr && fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr) - return 4; // [ 0, 0, g ] + fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr) { + return 4; // [ 0, 0, g ] + } if (fabsf(accel_ema[0]) < accel_err_thr && fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr) - return 5; // [ 0, 0, -g ] + fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr) { + return 5; // [ 0, 0, -g ] + } mavlink_log_critical(mavlink_fd, "ERROR: invalid orientation"); @@ -485,8 +495,9 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp struct sensor_combined_s sensor; orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - for (int i = 0; i < 3; i++) + for (int i = 0; i < 3; i++) { accel_sum[i] += sensor.accelerometer_m_s2[i]; + } count++; @@ -495,8 +506,9 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp continue; } - if (errcount > samples_num / 10) + if (errcount > samples_num / 10) { return ERROR; + } } for (int i = 0; i < 3; i++) { @@ -512,8 +524,9 @@ int mat_invert3(float src[3][3], float dst[3][3]) src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) + src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]); - if (det == 0.0f) - return ERROR; // Singular matrix + if (det == 0.0f) { + return ERROR; // Singular matrix + } dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det; dst[1][0] = (src[1][2] * src[2][0] - src[1][0] * src[2][2]) / det; @@ -549,8 +562,9 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo /* calculate inverse matrix for A */ float mat_A_inv[3][3]; - if (mat_invert3(mat_A, mat_A_inv) != OK) + if (mat_invert3(mat_A, mat_A_inv) != OK) { return ERROR; + } /* copy results to accel_T */ for (int i = 0; i < 3; i++) { diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index 6039d92a76..5d21d89d04 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -64,9 +64,9 @@ int do_airspeed_calibration(int mavlink_fd) { /* give directions */ mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); - mavlink_log_info(mavlink_fd, "don't move system"); + mavlink_log_info(mavlink_fd, "ensure airspeed sensor is not registering wind"); - const int calibration_count = 2500; + const int calibration_count = 2000; int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); struct differential_pressure_s diff_pres; @@ -82,16 +82,21 @@ int do_airspeed_calibration(int mavlink_fd) bool paramreset_successful = false; int fd = open(AIRSPEED_DEVICE_PATH, 0); + if (fd > 0) { if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { paramreset_successful = true; + + } else { + mavlink_log_critical(mavlink_fd, "airspeed offset zero failed"); } + close(fd); } if (!paramreset_successful) { - warn("WARNING: failed to set scale / offsets for airspeed sensor"); - mavlink_log_critical(mavlink_fd, "could not reset dpress sensor"); + warn("FAILED to set scale / offsets for airspeed"); + mavlink_log_critical(mavlink_fd, "dpress reset failed"); mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); return ERROR; } @@ -107,11 +112,12 @@ int do_airspeed_calibration(int mavlink_fd) if (poll_ret) { orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); - diff_pres_offset += diff_pres.differential_pressure_pa; + diff_pres_offset += diff_pres.differential_pressure_raw_pa; calibration_counter++; - if (calibration_counter % (calibration_count / 20) == 0) + if (calibration_counter % (calibration_count / 20) == 0) { mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count); + } } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 9c1642ac2a..8336bcf329 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -67,6 +67,7 @@ #include #include #include +#include #include #include #include @@ -112,14 +113,14 @@ extern struct system_load_s system_load; #define MAVLINK_OPEN_INTERVAL 50000 -#define STICK_ON_OFF_LIMIT 0.75f -#define STICK_THRUST_RANGE 1.0f +#define STICK_ON_OFF_LIMIT 0.9f #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) -#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */ -#define RC_TIMEOUT 100000 -#define DIFFPRESS_TIMEOUT 2000000 +#define POSITION_TIMEOUT (600 * 1000) /**< consider the local or global position estimate invalid after 600ms */ +#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */ +#define RC_TIMEOUT 500000 +#define DIFFPRESS_TIMEOUT 2000000 #define PRINT_INTERVAL 5000000 #define PRINT_MODE_REJECT_INTERVAL 2000000 @@ -137,7 +138,7 @@ enum MAV_MODE_FLAG { }; /* Mavlink file descriptors */ -static int mavlink_fd; +static int mavlink_fd = 0; /* flags */ static bool commander_initialized = false; @@ -153,6 +154,7 @@ static bool on_usb_power = false; static float takeoff_alt = 5.0f; static int parachute_enabled = 0; +static float eph_epv_threshold = 5.0f; static struct vehicle_status_s status; static struct actuator_armed_s armed; @@ -194,7 +196,7 @@ void usage(const char *reason); /** * React to commands that are sent e.g. from the mavlink module. */ -bool handle_command(struct vehicle_status_s *status, struct vehicle_command_s *cmd, struct actuator_armed_s *armed); +bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub); /** * Mainloop of commander. @@ -207,7 +209,7 @@ void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status); -transition_result_t set_main_state_rc(struct vehicle_status_s *status); +transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man); void set_control_mode(); @@ -217,11 +219,10 @@ void print_reject_arm(const char *msg); void print_status(); -int arm(); -int disarm(); - transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); +transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy); + /** * Loop that runs at a lower rate and priority for calibration and parameter tasks. */ @@ -232,8 +233,9 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul int commander_main(int argc, char *argv[]) { - if (argc < 1) + if (argc < 1) { usage("missing command"); + } if (!strcmp(argv[1], "start")) { @@ -247,7 +249,7 @@ int commander_main(int argc, char *argv[]) daemon_task = task_spawn_cmd("commander", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, - 3000, + 2950, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); @@ -260,8 +262,9 @@ int commander_main(int argc, char *argv[]) if (!strcmp(argv[1], "stop")) { - if (!thread_running) + if (!thread_running) { errx(0, "commander already stopped"); + } thread_should_exit = true; @@ -288,12 +291,12 @@ int commander_main(int argc, char *argv[]) } if (!strcmp(argv[1], "arm")) { - arm(); + arm_disarm(true, mavlink_fd, "command line"); exit(0); } - if (!strcmp(argv[1], "disarm")) { - disarm(); + if (!strcmp(argv[1], "2")) { + arm_disarm(false, mavlink_fd, "command line"); exit(0); } @@ -303,8 +306,9 @@ int commander_main(int argc, char *argv[]) void usage(const char *reason) { - if (reason) + if (reason) { fprintf(stderr, "%s\n", reason); + } fprintf(stderr, "usage: daemon {start|stop|status} [-p ]\n\n"); exit(1); @@ -363,38 +367,35 @@ void print_status() static orb_advert_t status_pub; -int arm() +transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy) { - int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + transition_result_t arming_res = TRANSITION_NOT_CHANGED; - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline"); - return 0; + // Transition the armed state. By passing mavlink_fd to arming_state_transition it will + // output appropriate error messages if the state cannot transition. + arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd); - } else { - return 1; + if (arming_res == TRANSITION_CHANGED && mavlink_fd) { + mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); + + } else if (arming_res == TRANSITION_DENIED) { + tune_negative(true); } + + return arming_res; } -int disarm() -{ - int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); - - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline"); - return 0; - - } else { - return 1; - } -} - -bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) +bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub) { /* result of the command */ enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED; bool ret = false; + /* only handle commands that are meant to be handled by this system and component */ + if (cmd->target_system != status->system_id || ((cmd->target_component != status->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components + return false; + } + /* only handle high-priority commands here */ /* request to set different system mode */ @@ -421,43 +422,16 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } } - if (hil_ret == OK) + if (hil_ret == OK) { ret = true; - - // TODO remove debug code - //mavlink_log_critical(mavlink_fd, "#audio: command setmode: %d %d", base_mode, custom_main_mode); - /* set arming state */ - arming_res = TRANSITION_NOT_CHANGED; - - if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { - if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) { - print_reject_arm("NOT ARMING: Press safety switch first."); - arming_res = TRANSITION_DENIED; - - } else { - arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed); - } - - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] ARMED by command"); - } - - } else { - if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) { - arming_state_t new_arming_state = (status->arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - arming_res = arming_state_transition(status, safety, new_arming_state, armed); - - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] DISARMED by command"); - } - - } else { - arming_res = TRANSITION_NOT_CHANGED; - } } - if (arming_res == TRANSITION_CHANGED) + // Transition the arming state + arming_res = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command"); + + if (arming_res == TRANSITION_CHANGED) { ret = true; + } /* set main state */ transition_result_t main_res = TRANSITION_DENIED; @@ -468,17 +442,21 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe /* MANUAL */ main_res = main_state_transition(status, MAIN_STATE_MANUAL); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) { - /* SEATBELT */ - main_res = main_state_transition(status, MAIN_STATE_SEATBELT); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) { + /* ALTCTL */ + main_res = main_state_transition(status, MAIN_STATE_ALTCTL); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_EASY) { - /* EASY */ - main_res = main_state_transition(status, MAIN_STATE_EASY); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) { + /* POSCTL */ + main_res = main_state_transition(status, MAIN_STATE_POSCTL); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { /* AUTO */ main_res = main_state_transition(status, MAIN_STATE_AUTO); + + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) { + /* ACRO */ + main_res = main_state_transition(status, MAIN_STATE_ACRO); } } else { @@ -489,8 +467,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) { if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) { - /* EASY */ - main_res = main_state_transition(status, MAIN_STATE_EASY); + /* POSCTL */ + main_res = main_state_transition(status, MAIN_STATE_POSCTL); } else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) { /* MANUAL */ @@ -499,8 +477,9 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } } - if (main_res == TRANSITION_CHANGED) + if (main_res == TRANSITION_CHANGED) { ret = true; + } if (arming_res != TRANSITION_DENIED && main_res != TRANSITION_DENIED) { result = VEHICLE_CMD_RESULT_ACCEPTED; @@ -513,25 +492,26 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } case VEHICLE_CMD_COMPONENT_ARM_DISARM: { - transition_result_t arming_res = TRANSITION_NOT_CHANGED; + // Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm. + // We use an float epsilon delta to test float equality. + if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) { + mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1); - if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) { - if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) { - print_reject_arm("NOT ARMING: Press safety switch first."); - arming_res = TRANSITION_DENIED; + } else { - } else { - arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed); + // Flick to inair restore first if this comes from an onboard system + if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) { + status->arming_state = ARMING_STATE_IN_AIR_RESTORE; } - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_critical(mavlink_fd, "#audio: ARMED by component arm cmd"); - result = VEHICLE_CMD_RESULT_ACCEPTED; - ret = true; + transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command"); - } else { + if (arming_res == TRANSITION_DENIED) { mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd"); result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + + } else { + result = VEHICLE_CMD_RESULT_ACCEPTED; } } } @@ -561,7 +541,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } break; - /* Flight termination */ + /* Flight termination */ case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command //XXX: to enable the parachute, a param needs to be set @@ -579,6 +559,53 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } break; + case VEHICLE_CMD_DO_SET_HOME: { + bool use_current = cmd->param1 > 0.5f; + + if (use_current) { + /* use current position */ + if (status->condition_global_position_valid) { + home->lat = global_pos->lat; + home->lon = global_pos->lon; + home->alt = global_pos->alt; + + home->timestamp = hrt_absolute_time(); + + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + } else { + /* use specified position */ + home->lat = cmd->param5; + home->lon = cmd->param6; + home->alt = cmd->param7; + + home->timestamp = hrt_absolute_time(); + + result = VEHICLE_CMD_RESULT_ACCEPTED; + } + + if (result == VEHICLE_CMD_RESULT_ACCEPTED) { + warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home->lat, home->lon, (double)home->alt); + mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home->lat, home->lon, (double)home->alt); + + /* announce new home position */ + if (*home_pub > 0) { + orb_publish(ORB_ID(home_position), *home_pub, home); + + } else { + *home_pub = orb_advertise(ORB_ID(home_position), home); + } + + /* mark home position as set */ + status->condition_home_position_valid = true; + } + } + break; + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: case VEHICLE_CMD_PREFLIGHT_CALIBRATION: case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: @@ -587,7 +614,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe break; default: - /* warn about unsupported commands */ + /* Warn about unsupported commands, this makes sense because only commands + * to this component ID (or all) are passed by mavlink. */ answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED); break; } @@ -611,6 +639,7 @@ int commander_thread_main(int argc, char *argv[]) commander_initialized = false; bool arm_tune_played = false; + bool was_armed = false; /* set parameters */ param_t _param_sys_type = param_find("MAV_TYPE"); @@ -624,10 +653,10 @@ int commander_thread_main(int argc, char *argv[]) char *main_states_str[MAIN_STATE_MAX]; main_states_str[0] = "MANUAL"; - main_states_str[1] = "ACRO"; - main_states_str[2] = "SEATBELT"; - main_states_str[3] = "EASY"; - main_states_str[4] = "AUTO"; + main_states_str[1] = "ALTCTL"; + main_states_str[2] = "POSCTL"; + main_states_str[3] = "AUTO"; + main_states_str[4] = "ACRO"; char *arming_states_str[ARMING_STATE_MAX]; arming_states_str[0] = "INIT"; @@ -719,7 +748,7 @@ int commander_thread_main(int argc, char *argv[]) pthread_attr_t commander_low_prio_attr; pthread_attr_init(&commander_low_prio_attr); - pthread_attr_setstacksize(&commander_low_prio_attr, 2992); + pthread_attr_setstacksize(&commander_low_prio_attr, 2900); struct sched_param param; (void)pthread_attr_getschedparam(&commander_low_prio_attr, ¶m); @@ -738,8 +767,9 @@ int commander_thread_main(int argc, char *argv[]) bool low_battery_voltage_actions_done = false; bool critical_battery_voltage_actions_done = false; - uint64_t last_idle_time = 0; - uint64_t start_time = 0; + hrt_abstime last_idle_time = 0; + hrt_abstime start_time = 0; + hrt_abstime last_auto_state_valid = 0; bool status_changed = true; bool param_init_forced = true; @@ -768,6 +798,9 @@ int commander_thread_main(int argc, char *argv[]) int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); struct vehicle_global_position_s global_position; memset(&global_position, 0, sizeof(global_position)); + /* Init EPH and EPV */ + global_position.eph = 1000.0f; + global_position.epv = 1000.0f; /* Subscribe to local position data */ int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); @@ -815,6 +848,11 @@ int commander_thread_main(int argc, char *argv[]) struct subsystem_info_s info; memset(&info, 0, sizeof(info)); + /* Subscribe to position setpoint triplet */ + int pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); + struct position_setpoint_triplet_s pos_sp_triplet; + memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet)); + control_status_leds(&status, &armed, true); /* now initialized */ @@ -865,6 +903,7 @@ int commander_thread_main(int argc, char *argv[]) /* re-check RC calibration */ rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd)); } + /* navigation parameters */ param_get(_param_takeoff_alt, &takeoff_alt); param_get(_param_enable_parachute, ¶chute_enabled); @@ -905,6 +944,7 @@ int commander_thread_main(int argc, char *argv[]) /* disarm if safety is now on and still armed */ if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) { arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); + if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) { mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch"); } @@ -920,7 +960,53 @@ int commander_thread_main(int argc, char *argv[]) } /* update condition_global_position_valid */ - check_valid(global_position.timestamp, POSITION_TIMEOUT, global_position.global_valid, &(status.condition_global_position_valid), &status_changed); + /* hysteresis for EPH/EPV */ + bool eph_epv_good; + + if (status.condition_global_position_valid) { + if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) { + eph_epv_good = false; + + } else { + eph_epv_good = true; + } + + } else { + if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) { + eph_epv_good = true; + + } else { + eph_epv_good = false; + } + } + + check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed); + + /* check if GPS fix is ok */ + + /* update home position */ + if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed && + (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { + + home.lat = global_position.lat; + home.lon = global_position.lon; + home.alt = global_position.alt; + + warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt); + mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); + + /* announce new home position */ + if (home_pub > 0) { + orb_publish(ORB_ID(home_position), home_pub, &home); + + } else { + home_pub = orb_advertise(ORB_ID(home_position), &home); + } + + /* mark home position as set */ + status.condition_home_position_valid = true; + tune_positive(true); + } /* update local position estimate */ orb_check(local_position_sub, &updated); @@ -931,10 +1017,11 @@ int commander_thread_main(int argc, char *argv[]) } /* update condition_local_position_valid and condition_local_altitude_valid */ - check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed); + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && eph_epv_good, &(status.condition_local_position_valid), &status_changed); check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed); static bool published_condition_landed_fw = false; + if (status.is_rotary_wing && status.condition_local_altitude_valid) { if (status.condition_landed != local_position.landed) { status.condition_landed = local_position.landed; @@ -948,6 +1035,7 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_critical(mavlink_fd, "#audio: IN AIR"); } } + } else { if (!published_condition_landed_fw) { status.condition_landed = false; // Fixedwing does not have a landing detector currently @@ -963,7 +1051,7 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(battery_status), battery_sub, &battery); /* only consider battery voltage if system has been running 2s and battery voltage is valid */ - if (status.hil_state == HIL_STATE_OFF && hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) { + if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) { status.battery_voltage = battery.voltage_filtered_v; status.battery_current = battery.current_a; status.condition_battery_voltage_valid = true; @@ -1006,12 +1094,20 @@ int commander_thread_main(int argc, char *argv[]) status_changed = true; } + /* update position setpoint triplet */ + orb_check(pos_sp_triplet_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet); + } + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { /* compute system load */ uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time; - if (last_idle_time > 0) - status.load = 1.0f - ((float)interval_runtime / 1e6f); //system load is time spent in non-idle + if (last_idle_time > 0) { + status.load = 1.0f - ((float)interval_runtime / 1e6f); //system load is time spent in non-idle + } last_idle_time = system_load.tasks[0].total_runtime; @@ -1068,45 +1164,6 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); - /* check if GPS fix is ok */ - float hdop_threshold_m = 4.0f; - float vdop_threshold_m = 8.0f; - - /* - * If horizontal dilution of precision (hdop / eph) - * and vertical diluation of precision (vdop / epv) - * are below a certain threshold (e.g. 4 m), AND - * home position is not yet set AND the last GPS - * GPS measurement is not older than two seconds AND - * the system is currently not armed, set home - * position to the current position. - */ - - if (!status.condition_home_position_valid && gps_position.fix_type >= 3 && - (gps_position.eph_m < hdop_threshold_m) && (gps_position.epv_m < vdop_threshold_m) && - (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed - && global_position.global_valid) { - - /* copy position data to uORB home message, store it locally as well */ - home.lat = global_position.lat; - home.lon = global_position.lon; - home.alt = global_position.alt; - - warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt); - mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt); - - /* announce new home position */ - if (home_pub > 0) { - orb_publish(ORB_ID(home_position), home_pub, &home); - - } else { - home_pub = orb_advertise(ORB_ID(home_position), &home); - } - - /* mark home position as set */ - status.condition_home_position_valid = true; - tune_positive(true); - } } /* start RC input check */ @@ -1126,22 +1183,22 @@ int commander_thread_main(int argc, char *argv[]) status.rc_signal_lost = false; - transition_result_t res; // store all transitions results here + transition_result_t arming_res; // store all transitions results here /* arm/disarm by RC */ - res = TRANSITION_NOT_CHANGED; + arming_res = TRANSITION_NOT_CHANGED; - /* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm + /* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm * do it only for rotary wings */ if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && - (status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) && - sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) && + sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - res = arming_state_transition(&status, &safety, new_arming_state, &armed); + arming_res = arming_state_transition(&status, &safety, new_arming_state, &armed); stick_off_counter = 0; } else { @@ -1154,7 +1211,7 @@ int commander_thread_main(int argc, char *argv[]) /* check if left stick is in lower right position and we're in MANUAL mode -> arm */ if (status.arming_state == ARMING_STATE_STANDBY && - sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); @@ -1163,7 +1220,7 @@ int commander_thread_main(int argc, char *argv[]) print_reject_arm("NOT ARMING: Switch to MANUAL mode first."); } else { - res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); } stick_on_counter = 0; @@ -1176,7 +1233,7 @@ int commander_thread_main(int argc, char *argv[]) stick_on_counter = 0; } - if (res == TRANSITION_CHANGED) { + if (arming_res == TRANSITION_CHANGED) { if (status.arming_state == ARMING_STATE_ARMED) { mavlink_log_info(mavlink_fd, "[cmd] ARMED by RC"); @@ -1184,31 +1241,56 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC"); } - } else if (res == TRANSITION_DENIED) { + } else if (arming_res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied"); } if (status.failsafe_state != FAILSAFE_STATE_NORMAL) { /* recover from failsafe */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); } - /* fill status according to mode switches */ - check_mode_switches(&sp_man, &status); - /* evaluate the main state machine according to mode switches */ - res = set_main_state_rc(&status); + transition_result_t main_res = set_main_state_rc(&status, &sp_man); /* play tune on mode change only if armed, blink LED always */ - if (res == TRANSITION_CHANGED) { + if (main_res == TRANSITION_CHANGED) { tune_positive(armed.armed); - } else if (res == TRANSITION_DENIED) { + } else if (main_res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied"); } + /* set navigation state */ + /* RETURN switch, overrides MISSION switch */ + if (sp_man.return_switch == SWITCH_POS_ON) { + /* switch to RTL if not already landed after RTL and home position set */ + status.set_nav_state = NAV_STATE_RTL; + status.set_nav_state_timestamp = hrt_absolute_time(); + + } else { + + /* LOITER switch */ + if (sp_man.loiter_switch == SWITCH_POS_ON) { + /* stick is in LOITER position */ + status.set_nav_state = NAV_STATE_LOITER; + status.set_nav_state_timestamp = hrt_absolute_time(); + + } else if (sp_man.loiter_switch != SWITCH_POS_NONE) { + /* stick is in MISSION position */ + status.set_nav_state = NAV_STATE_MISSION; + status.set_nav_state_timestamp = hrt_absolute_time(); + + } else if ((sp_man.return_switch == SWITCH_POS_OFF || sp_man.return_switch == SWITCH_POS_MIDDLE) && + pos_sp_triplet.nav_state == NAV_STATE_RTL) { + /* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */ + status.set_nav_state = NAV_STATE_MISSION; + status.set_nav_state_timestamp = hrt_absolute_time(); + } + } + } else { if (!status.rc_signal_lost) { mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST"); @@ -1219,29 +1301,39 @@ int commander_thread_main(int argc, char *argv[]) if (armed.armed) { if (status.main_state == MAIN_STATE_AUTO) { /* check if AUTO mode still allowed */ - transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO); + transition_result_t auto_res = main_state_transition(&status, MAIN_STATE_AUTO); - if (res == TRANSITION_DENIED) { + if (auto_res == TRANSITION_NOT_CHANGED) { + last_auto_state_valid = hrt_absolute_time(); + } + + /* still invalid state after the timeout interval, execute failsafe */ + if ((hrt_elapsed_time(&last_auto_state_valid) > FAILSAFE_DEFAULT_TIMEOUT) && (auto_res == TRANSITION_DENIED)) { /* AUTO mode denied, don't try RTL, switch to failsafe state LAND */ - res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); + auto_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); - if (res == TRANSITION_DENIED) { + if (auto_res == TRANSITION_DENIED) { /* LAND not allowed, set TERMINATION state */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); } } } else { /* failsafe for manual modes */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); + transition_result_t manual_res = TRANSITION_DENIED; - if (res == TRANSITION_DENIED) { - /* RTL not allowed (no global position estimate), try LAND */ - res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); + if (!status.condition_landed) { + /* vehicle is not landed, try to perform RTL */ + manual_res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); + } - if (res == TRANSITION_DENIED) { + if (manual_res == TRANSITION_DENIED) { + /* RTL not allowed (no global position estimate) or not wanted, try LAND */ + manual_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); + + if (manual_res == TRANSITION_DENIED) { /* LAND not allowed, set TERMINATION state */ - res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); } } } @@ -1249,14 +1341,14 @@ int commander_thread_main(int argc, char *argv[]) } else { if (status.failsafe_state != FAILSAFE_STATE_NORMAL) { /* reset failsafe when disarmed */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); } } } // TODO remove this hack - /* flight termination in manual mode if assisted switch is on easy position */ - if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) { + /* flight termination in manual mode if assist switch is on POSCTL position */ + if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctl_switch == SWITCH_POS_ON) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { tune_positive(armed.armed); } @@ -1270,8 +1362,9 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); /* handle it */ - if (handle_command(&status, &safety, &cmd, &armed)) + if (handle_command(&status, &safety, &cmd, &armed, &home, &global_position, &home_pub)) { status_changed = true; + } } /* check which state machines for changes, clear "changed" flag */ @@ -1285,8 +1378,34 @@ int commander_thread_main(int argc, char *argv[]) if (arming_state_changed) { status_changed = true; mavlink_log_info(mavlink_fd, "[cmd] arming state: %s", arming_states_str[status.arming_state]); + + /* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */ + if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid && + (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { + + // TODO remove code duplication + home.lat = global_position.lat; + home.lon = global_position.lon; + home.alt = global_position.alt; + + warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt); + mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); + + /* announce new home position */ + if (home_pub > 0) { + orb_publish(ORB_ID(home_position), home_pub, &home); + + } else { + home_pub = orb_advertise(ORB_ID(home_position), &home); + } + + /* mark home position as set */ + status.condition_home_position_valid = true; + } } + was_armed = armed.armed; + if (main_state_changed) { status_changed = true; mavlink_log_info(mavlink_fd, "[cmd] main state: %s", main_states_str[status.main_state]); @@ -1448,21 +1567,24 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a } else if (actuator_armed->ready_to_arm) { /* ready to arm, blink at 1Hz */ - if (leds_counter % 20 == 0) + if (leds_counter % 20 == 0) { led_toggle(LED_BLUE); + } } else { /* not ready to arm, blink at 10Hz */ - if (leds_counter % 2 == 0) + if (leds_counter % 2 == 0) { led_toggle(LED_BLUE); + } } #endif /* give system warnings on error LED, XXX maybe add memory usage warning too */ if (status->load > 0.95f) { - if (leds_counter % 2 == 0) + if (leds_counter % 2 == 0) { led_toggle(LED_AMBER); + } } else { led_off(LED_AMBER); @@ -1471,121 +1593,68 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a leds_counter++; } -void -check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status) -{ - /* main mode switch */ - if (!isfinite(sp_man->mode_switch)) { - /* default to manual if signal is invalid */ - status->mode_switch = MODE_SWITCH_MANUAL; - - } else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) { - status->mode_switch = MODE_SWITCH_AUTO; - - } else if (sp_man->mode_switch < -STICK_ON_OFF_LIMIT) { - status->mode_switch = MODE_SWITCH_MANUAL; - - } else { - status->mode_switch = MODE_SWITCH_ASSISTED; - } - - /* return switch */ - if (!isfinite(sp_man->return_switch)) { - status->return_switch = RETURN_SWITCH_NONE; - - } else if (sp_man->return_switch > STICK_ON_OFF_LIMIT) { - status->return_switch = RETURN_SWITCH_RETURN; - - } else { - status->return_switch = RETURN_SWITCH_NORMAL; - } - - /* assisted switch */ - if (!isfinite(sp_man->assisted_switch)) { - status->assisted_switch = ASSISTED_SWITCH_SEATBELT; - - } else if (sp_man->assisted_switch > STICK_ON_OFF_LIMIT) { - status->assisted_switch = ASSISTED_SWITCH_EASY; - - } else { - status->assisted_switch = ASSISTED_SWITCH_SEATBELT; - } - - /* mission switch */ - if (!isfinite(sp_man->mission_switch)) { - status->mission_switch = MISSION_SWITCH_NONE; - - } else if (sp_man->mission_switch > STICK_ON_OFF_LIMIT) { - status->mission_switch = MISSION_SWITCH_LOITER; - - } else { - status->mission_switch = MISSION_SWITCH_MISSION; - } - - /* acro switch */ - if (!isfinite(sp_man->acro_switch)) { - status->acro_switch = ACRO_SWITCH_NONE; - - } else if (sp_man->acro_switch > STICK_ON_OFF_LIMIT) { - status->acro_switch = ACRO_SWITCH_ACRO; - - } else { - status->acro_switch = ACRO_SWITCH_NORMAL; - } -} - transition_result_t -set_main_state_rc(struct vehicle_status_s *status) +set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man) { /* set main state according to RC switches */ transition_result_t res = TRANSITION_DENIED; - switch (status->mode_switch) { - case MODE_SWITCH_MANUAL: - if (status->acro_switch == ACRO_SWITCH_ACRO) { + switch (sp_man->mode_switch) { + case SWITCH_POS_NONE: + res = TRANSITION_NOT_CHANGED; + break; + + case SWITCH_POS_OFF: // MANUAL + if (sp_man->acro_switch == SWITCH_POS_ON) { res = main_state_transition(status, MAIN_STATE_ACRO); + } else { res = main_state_transition(status, MAIN_STATE_MANUAL); } // TRANSITION_DENIED is not possible here break; - case MODE_SWITCH_ASSISTED: - if (status->assisted_switch == ASSISTED_SWITCH_EASY) { - res = main_state_transition(status, MAIN_STATE_EASY); + case SWITCH_POS_MIDDLE: // ASSIST + if (sp_man->posctl_switch == SWITCH_POS_ON) { + res = main_state_transition(status, MAIN_STATE_POSCTL); - if (res != TRANSITION_DENIED) + if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state + } - // else fallback to SEATBELT - print_reject_mode(status, "EASY"); + // else fallback to ALTCTL + print_reject_mode(status, "POSCTL"); } - res = main_state_transition(status, MAIN_STATE_SEATBELT); + res = main_state_transition(status, MAIN_STATE_ALTCTL); - if (res != TRANSITION_DENIED) + if (res != TRANSITION_DENIED) { break; // changed successfully or already in this mode + } - if (status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages - print_reject_mode(status, "SEATBELT"); + if (sp_man->posctl_switch != SWITCH_POS_ON) { + print_reject_mode(status, "ALTCTL"); + } // else fallback to MANUAL res = main_state_transition(status, MAIN_STATE_MANUAL); // TRANSITION_DENIED is not possible here break; - case MODE_SWITCH_AUTO: + case SWITCH_POS_ON: // AUTO res = main_state_transition(status, MAIN_STATE_AUTO); - if (res != TRANSITION_DENIED) + if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state + } - // else fallback to SEATBELT (EASY likely will not work too) + // else fallback to ALTCTL (POSCTL likely will not work too) print_reject_mode(status, "AUTO"); - res = main_state_transition(status, MAIN_STATE_SEATBELT); + res = main_state_transition(status, MAIN_STATE_ALTCTL); - if (res != TRANSITION_DENIED) + if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state + } // else fallback to MANUAL res = main_state_transition(status, MAIN_STATE_MANUAL); @@ -1627,18 +1696,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_ACRO: - control_mode.flag_control_manual_enabled = true; - control_mode.flag_control_auto_enabled = false; - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = false; - control_mode.flag_control_altitude_enabled = false; - control_mode.flag_control_climb_rate_enabled = false; - control_mode.flag_control_position_enabled = false; - control_mode.flag_control_velocity_enabled = false; - break; - - case MAIN_STATE_SEATBELT: + case MAIN_STATE_ALTCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; @@ -1649,7 +1707,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_EASY: + case MAIN_STATE_POSCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; @@ -1662,6 +1720,18 @@ set_control_mode() case MAIN_STATE_AUTO: navigator_enabled = true; + break; + + case MAIN_STATE_ACRO: + control_mode.flag_control_manual_enabled = true; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; default: break; @@ -1700,8 +1770,11 @@ set_control_mode() control_mode.flag_control_auto_enabled = true; control_mode.flag_control_rates_enabled = true; control_mode.flag_control_attitude_enabled = true; - control_mode.flag_control_position_enabled = true; - control_mode.flag_control_velocity_enabled = true; + + /* in failsafe LAND mode position may be not available */ + control_mode.flag_control_position_enabled = status.condition_local_position_valid; + control_mode.flag_control_velocity_enabled = status.condition_local_position_valid; + control_mode.flag_control_altitude_enabled = true; control_mode.flag_control_climb_rate_enabled = true; } @@ -1742,7 +1815,7 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul { switch (result) { case VEHICLE_CMD_RESULT_ACCEPTED: - tune_positive(true); + tune_positive(true); break; case VEHICLE_CMD_RESULT_DENIED: @@ -1792,8 +1865,9 @@ void *commander_low_prio_loop(void *arg) int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 200); /* timed out - periodic check for thread_should_exit, etc. */ - if (pret == 0) + if (pret == 0) { continue; + } /* this is undesirable but not much we can do - might want to flag unhappy status */ if (pret < 0) { @@ -1808,8 +1882,9 @@ void *commander_low_prio_loop(void *arg) if (cmd.command == VEHICLE_CMD_DO_SET_MODE || cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM || cmd.command == VEHICLE_CMD_NAV_TAKEOFF || - cmd.command == VEHICLE_CMD_DO_SET_SERVO) + cmd.command == VEHICLE_CMD_DO_SET_SERVO) { continue; + } /* only handle low-priority commands here */ switch (cmd.command) { @@ -1887,6 +1962,7 @@ void *commander_low_prio_loop(void *arg) /* airspeed calibration */ answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); calib_ret = do_airspeed_calibration(mavlink_fd); + } else if ((int)(cmd.param4) == 0) { /* RC calibration ended - have we been in one worth confirming? */ if (status.rc_input_blocked) { @@ -1901,10 +1977,12 @@ void *commander_low_prio_loop(void *arg) } - if (calib_ret == OK) + if (calib_ret == OK) { tune_positive(true); - else + + } else { tune_negative(true); + } arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); @@ -1924,11 +2002,13 @@ void *commander_low_prio_loop(void *arg) mavlink_log_critical(mavlink_fd, "#audio: parameters load ERROR"); /* convenience as many parts of NuttX use negative errno */ - if (ret < 0) + if (ret < 0) { ret = -ret; + } - if (ret < 1000) + if (ret < 1000) { mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret)); + } answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); } @@ -1944,11 +2024,13 @@ void *commander_low_prio_loop(void *arg) mavlink_log_critical(mavlink_fd, "#audio: parameters save error"); /* convenience as many parts of NuttX use negative errno */ - if (ret < 0) + if (ret < 0) { ret = -ret; + } - if (ret < 1000) + if (ret < 1000) { mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret)); + } answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); } @@ -1958,8 +2040,8 @@ void *commander_low_prio_loop(void *arg) } case VEHICLE_CMD_START_RX_PAIR: - /* handled in the IO driver */ - break; + /* handled in the IO driver */ + break; default: /* don't answer on unsupported commands, it will be done in main loop */ diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index fe6c9bfaa5..940a04aa1f 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -113,17 +113,22 @@ void buzzer_deinit() close(buzzer); } -void set_tune(int tune) { +void set_tune(int tune) +{ unsigned int new_tune_duration = tune_durations[tune]; + /* don't interrupt currently playing non-repeating tune by repeating */ if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) { /* allow interrupting current non-repeating tune by the same tune */ if (tune != tune_current || new_tune_duration != 0) { ioctl(buzzer, TONE_SET_ALARM, tune); } + tune_current = tune; + if (new_tune_duration != 0) { tune_end = hrt_absolute_time() + new_tune_duration; + } else { tune_end = 0; } @@ -138,6 +143,7 @@ void tune_positive(bool use_buzzer) blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; rgbled_set_color(RGBLED_COLOR_GREEN); rgbled_set_mode(RGBLED_MODE_BLINK_FAST); + if (use_buzzer) { set_tune(TONE_NOTIFY_POSITIVE_TUNE); } @@ -151,6 +157,7 @@ void tune_neutral(bool use_buzzer) blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; rgbled_set_color(RGBLED_COLOR_WHITE); rgbled_set_mode(RGBLED_MODE_BLINK_FAST); + if (use_buzzer) { set_tune(TONE_NOTIFY_NEUTRAL_TUNE); } @@ -164,6 +171,7 @@ void tune_negative(bool use_buzzer) blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; rgbled_set_color(RGBLED_COLOR_RED); rgbled_set_mode(RGBLED_MODE_BLINK_FAST); + if (use_buzzer) { set_tune(TONE_NOTIFY_NEGATIVE_TUNE); } @@ -198,16 +206,10 @@ int led_init() return ERROR; } - /* the blue LED is only available on FMUv1 but not FMUv2 */ -#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 - - if (ioctl(leds, LED_ON, LED_BLUE)) { - warnx("Blue LED: ioctl fail\n"); - return ERROR; - } - -#endif + /* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */ + (void)ioctl(leds, LED_ON, LED_BLUE); + /* we consider the amber led mandatory */ if (ioctl(leds, LED_ON, LED_AMBER)) { warnx("Amber LED: ioctl fail\n"); return ERROR; @@ -217,11 +219,7 @@ int led_init() rgbleds = open(RGBLED_DEVICE_PATH, 0); if (rgbleds == -1) { -#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 - errx(1, "Unable to open " RGBLED_DEVICE_PATH); -#else - warnx("No RGB LED found"); -#endif + warnx("No RGB LED found at " RGBLED_DEVICE_PATH); } return 0; @@ -254,22 +252,25 @@ int led_off(int led) void rgbled_set_color(rgbled_color_t color) { - if (rgbleds != -1) + if (rgbleds != -1) { ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color); + } } void rgbled_set_mode(rgbled_mode_t mode) { - if (rgbleds != -1) + if (rgbleds != -1) { ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode); + } } void rgbled_set_pattern(rgbled_pattern_t *pattern) { - if (rgbleds != -1) + if (rgbleds != -1) { ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern); + } } float battery_remaining_estimate_voltage(float voltage, float discharged) @@ -309,6 +310,7 @@ float battery_remaining_estimate_voltage(float voltage, float discharged) if (bat_capacity > 0.0f) { /* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */ ret = fminf(remaining_voltage, 1.0f - discharged / bat_capacity); + } else { /* else use voltage */ ret = remaining_voltage; diff --git a/src/modules/commander/commander_tests/commander_tests.cpp b/src/modules/commander/commander_tests/commander_tests.cpp index 6e72cf0d9c..0abb84a82c 100644 --- a/src/modules/commander/commander_tests/commander_tests.cpp +++ b/src/modules/commander/commander_tests/commander_tests.cpp @@ -48,8 +48,7 @@ extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]); int commander_tests_main(int argc, char *argv[]) { - state_machine_helper_test(); - //state_machine_test(); + stateMachineHelperTest(); return 0; } diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp index 40bedd9f31..ee0d08391b 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp +++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp @@ -49,13 +49,12 @@ public: StateMachineHelperTest(); virtual ~StateMachineHelperTest(); - virtual const char* run_tests(); + virtual void runTests(void); private: - const char* arming_state_transition_test(); - const char* arming_state_transition_arm_disarm_test(); - const char* main_state_transition_test(); - const char* is_safe_test(); + bool armingStateTransitionTest(); + bool mainStateTransitionTest(); + bool isSafeTest(); }; StateMachineHelperTest::StateMachineHelperTest() { @@ -64,61 +63,242 @@ StateMachineHelperTest::StateMachineHelperTest() { StateMachineHelperTest::~StateMachineHelperTest() { } -const char* -StateMachineHelperTest::arming_state_transition_test() +bool StateMachineHelperTest::armingStateTransitionTest(void) { + // These are the critical values from vehicle_status_s and actuator_armed_s which must be primed + // to simulate machine state prior to testing an arming state transition. This structure is also + // use to represent the expected machine state after the transition has been requested. + typedef struct { + arming_state_t arming_state; // vehicle_status_s.arming_state + bool armed; // actuator_armed_s.armed + bool ready_to_arm; // actuator_armed_s.ready_to_arm + } ArmingTransitionVolatileState_t; + + // This structure represents a test case for arming_state_transition. It contains the machine + // state prior to transtion, the requested state to transition to and finally the expected + // machine state after transition. + typedef struct { + const char* assertMsg; // Text to show when test case fails + ArmingTransitionVolatileState_t current_state; // Machine state prior to transtion + hil_state_t hil_state; // Current vehicle_status_s.hil_state + bool condition_system_sensors_initialized; // Current vehicle_status_s.condition_system_sensors_initialized + bool safety_switch_available; // Current safety_s.safety_switch_available + bool safety_off; // Current safety_s.safety_off + arming_state_t requested_state; // Requested arming state to transition to + ArmingTransitionVolatileState_t expected_state; // Expected machine state after transition + transition_result_t expected_transition_result; // Expected result from arming_state_transition + } ArmingTransitionTest_t; + + // We use these defines so that our test cases are more readable + #define ATT_ARMED true + #define ATT_DISARMED false + #define ATT_READY_TO_ARM true + #define ATT_NOT_READY_TO_ARM false + #define ATT_SENSORS_INITIALIZED true + #define ATT_SENSORS_NOT_INITIALIZED false + #define ATT_SAFETY_AVAILABLE true + #define ATT_SAFETY_NOT_AVAILABLE true + #define ATT_SAFETY_OFF true + #define ATT_SAFETY_ON false + + // These are test cases for arming_state_transition + static const ArmingTransitionTest_t rgArmingTransitionTests[] = { + // TRANSITION_NOT_CHANGED tests + + { "no transition: identical states", + { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_INIT, + { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED }, + + // TRANSITION_CHANGED tests + + // Check all basic valid transitions, these don't require special state in vehicle_status_t or safety_s + + { "transition: init to standby", + { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_STANDBY, + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: init to standby error", + { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_STANDBY_ERROR, + { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: init to reboot", + { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_REBOOT, + { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: standby to init", + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_INIT, + { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: standby to standby error", + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_STANDBY_ERROR, + { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: standby to reboot", + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_REBOOT, + { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: armed to standby", + { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_STANDBY, + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: armed to armed error", + { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_ARMED_ERROR, + { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: armed error to standby error", + { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_STANDBY_ERROR, + { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: standby error to reboot", + { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_REBOOT, + { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: in air restore to armed", + { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_ARMED, + { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: in air restore to reboot", + { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_REBOOT, + { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, + + // hil on tests, standby error to standby not normally allowed + + { "transition: standby error to standby, hil on", + { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_STANDBY, + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED }, + + // Safety switch arming tests + + { "transition: init to standby, no safety switch", + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF, + ARMING_STATE_ARMED, + { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED }, + + { "transition: init to standby, safety switch off", + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF, + ARMING_STATE_ARMED, + { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED }, + + // standby error + { "transition: armed error to standby error requested standby", + { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_STANDBY, + { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, + + // TRANSITION_DENIED tests + + // Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s + + { "no transition: init to armed", + { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_ARMED, + { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED }, + + { "no transition: standby to armed error", + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_ARMED_ERROR, + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED }, + + { "no transition: armed to init", + { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_INIT, + { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED }, + + { "no transition: armed to reboot", + { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_REBOOT, + { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED }, + + { "no transition: armed error to armed", + { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_ARMED, + { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED }, + + { "no transition: armed error to reboot", + { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_REBOOT, + { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED }, + + { "no transition: standby error to armed", + { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_ARMED, + { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED }, + + { "no transition: standby error to standby", + { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_STANDBY, + { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED }, + + { "no transition: reboot to armed", + { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_ARMED, + { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED }, + + { "no transition: in air restore to standby", + { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_STANDBY, + { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED }, + + // Sensor tests + + { "no transition: init to standby - sensors not initialized", + { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_STANDBY, + { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED }, + + // Safety switch arming tests + + { "no transition: init to standby, safety switch on", + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON, + ARMING_STATE_ARMED, + { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED }, + }; + struct vehicle_status_s status; - struct safety_s safety; - arming_state_t new_arming_state; + struct safety_s safety; struct actuator_armed_s armed; + + size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]); + for (size_t i=0; icurrent_state.arming_state; + status.condition_system_sensors_initialized = test->condition_system_sensors_initialized; + status.hil_state = test->hil_state; + safety.safety_switch_available = test->safety_switch_available; + safety.safety_off = test->safety_off; + armed.armed = test->current_state.armed; + armed.ready_to_arm = test->current_state.ready_to_arm; + + // Attempt transition + transition_result_t result = arming_state_transition(&status, &safety, test->requested_state, &armed); + + // Validate result of transition + ut_assert(test->assertMsg, test->expected_transition_result == result); + ut_assert(test->assertMsg, status.arming_state == test->expected_state.arming_state); + ut_assert(test->assertMsg, armed.armed == test->expected_state.armed); + ut_assert(test->assertMsg, armed.ready_to_arm == test->expected_state.ready_to_arm); + } - // Identical states. - status.arming_state = ARMING_STATE_INIT; - new_arming_state = ARMING_STATE_INIT; - mu_assert("no transition: identical states", - TRANSITION_NOT_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)); - - // INIT to STANDBY. - armed.armed = false; - armed.ready_to_arm = false; - status.arming_state = ARMING_STATE_INIT; - status.condition_system_sensors_initialized = true; - new_arming_state = ARMING_STATE_STANDBY; - mu_assert("transition: init to standby", - TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)); - mu_assert("current state: standby", ARMING_STATE_STANDBY == status.arming_state); - mu_assert("not armed", !armed.armed); - mu_assert("ready to arm", armed.ready_to_arm); - - // INIT to STANDBY, sensors not initialized. - armed.armed = false; - armed.ready_to_arm = false; - status.arming_state = ARMING_STATE_INIT; - status.condition_system_sensors_initialized = false; - new_arming_state = ARMING_STATE_STANDBY; - mu_assert("no transition: sensors not initialized", - TRANSITION_DENIED == arming_state_transition(&status, &safety, new_arming_state, &armed)); - mu_assert("current state: init", ARMING_STATE_INIT == status.arming_state); - mu_assert("not armed", !armed.armed); - mu_assert("not ready to arm", !armed.ready_to_arm); - - return 0; + return true; } -const char* -StateMachineHelperTest::arming_state_transition_arm_disarm_test() -{ - struct vehicle_status_s status; - struct safety_s safety; - arming_state_t new_arming_state; - struct actuator_armed_s armed; - - // TODO(sjwilks): ARM then DISARM. - return 0; -} - -const char* -StateMachineHelperTest::main_state_transition_test() +bool StateMachineHelperTest::mainStateTransitionTest(void) { struct vehicle_status_s current_state; main_state_t new_main_state; @@ -126,70 +306,69 @@ StateMachineHelperTest::main_state_transition_test() // Identical states. current_state.main_state = MAIN_STATE_MANUAL; new_main_state = MAIN_STATE_MANUAL; - mu_assert("no transition: identical states", + ut_assert("no transition: identical states", TRANSITION_NOT_CHANGED == main_state_transition(¤t_state, new_main_state)); - mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); + ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); // AUTO to MANUAL. current_state.main_state = MAIN_STATE_AUTO; new_main_state = MAIN_STATE_MANUAL; - mu_assert("transition changed: auto to manual", + ut_assert("transition changed: auto to manual", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - mu_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state); + ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state); - // MANUAL to SEATBELT. + // MANUAL to ALTCTRL. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = true; - new_main_state = MAIN_STATE_SEATBELT; - mu_assert("tranisition: manual to seatbelt", + new_main_state = MAIN_STATE_ALTCTL; + ut_assert("tranisition: manual to altctrl", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - mu_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state); + ut_assert("new state: altctrl", MAIN_STATE_ALTCTL == current_state.main_state); - // MANUAL to SEATBELT, invalid local altitude. + // MANUAL to ALTCTRL, invalid local altitude. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = false; - new_main_state = MAIN_STATE_SEATBELT; - mu_assert("no transition: invalid local altitude", + new_main_state = MAIN_STATE_ALTCTL; + ut_assert("no transition: invalid local altitude", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); - mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); + ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); - // MANUAL to EASY. + // MANUAL to POSCTRL. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = true; - new_main_state = MAIN_STATE_EASY; - mu_assert("transition: manual to easy", + new_main_state = MAIN_STATE_POSCTL; + ut_assert("transition: manual to posctrl", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - mu_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state); + ut_assert("current state: posctrl", MAIN_STATE_POSCTL == current_state.main_state); - // MANUAL to EASY, invalid local position. + // MANUAL to POSCTRL, invalid local position. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = false; - new_main_state = MAIN_STATE_EASY; - mu_assert("no transition: invalid position", + new_main_state = MAIN_STATE_POSCTL; + ut_assert("no transition: invalid position", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); - mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); + ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); // MANUAL to AUTO. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_global_position_valid = true; new_main_state = MAIN_STATE_AUTO; - mu_assert("transition: manual to auto", + ut_assert("transition: manual to auto", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - mu_assert("current state: auto", MAIN_STATE_AUTO == current_state.main_state); + ut_assert("current state: auto", MAIN_STATE_AUTO == current_state.main_state); // MANUAL to AUTO, invalid global position. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_global_position_valid = false; new_main_state = MAIN_STATE_AUTO; - mu_assert("no transition: invalid global position", + ut_assert("no transition: invalid global position", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); - mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); + ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); - return 0; + return true; } -const char* -StateMachineHelperTest::is_safe_test() +bool StateMachineHelperTest::isSafeTest(void) { struct vehicle_status_s current_state; struct safety_s safety; @@ -199,49 +378,45 @@ StateMachineHelperTest::is_safe_test() armed.lockdown = false; safety.safety_switch_available = true; safety.safety_off = false; - mu_assert("is safe: not armed", is_safe(¤t_state, &safety, &armed)); + ut_assert("is safe: not armed", is_safe(¤t_state, &safety, &armed)); armed.armed = false; armed.lockdown = true; safety.safety_switch_available = true; safety.safety_off = true; - mu_assert("is safe: software lockdown", is_safe(¤t_state, &safety, &armed)); + ut_assert("is safe: software lockdown", is_safe(¤t_state, &safety, &armed)); armed.armed = true; armed.lockdown = false; safety.safety_switch_available = true; safety.safety_off = true; - mu_assert("not safe: safety off", !is_safe(¤t_state, &safety, &armed)); + ut_assert("not safe: safety off", !is_safe(¤t_state, &safety, &armed)); armed.armed = true; armed.lockdown = false; safety.safety_switch_available = true; safety.safety_off = false; - mu_assert("is safe: safety off", is_safe(¤t_state, &safety, &armed)); + ut_assert("is safe: safety off", is_safe(¤t_state, &safety, &armed)); armed.armed = true; armed.lockdown = false; safety.safety_switch_available = false; safety.safety_off = false; - mu_assert("not safe: no safety switch", !is_safe(¤t_state, &safety, &armed)); + ut_assert("not safe: no safety switch", !is_safe(¤t_state, &safety, &armed)); - return 0; + return true; } -const char* -StateMachineHelperTest::run_tests() +void StateMachineHelperTest::runTests(void) { - mu_run_test(arming_state_transition_test); - mu_run_test(arming_state_transition_arm_disarm_test); - mu_run_test(main_state_transition_test); - mu_run_test(is_safe_test); - - return 0; + ut_run_test(armingStateTransitionTest); + ut_run_test(mainStateTransitionTest); + ut_run_test(isSafeTest); } -void -state_machine_helper_test() +void stateMachineHelperTest(void) { StateMachineHelperTest* test = new StateMachineHelperTest(); - test->UnitTest::print_results(test->run_tests()); + test->runTests(); + test->printResults(); } diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.h b/src/modules/commander/commander_tests/state_machine_helper_test.h index 10a68e6028..bbf66255ea 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.h +++ b/src/modules/commander/commander_tests/state_machine_helper_test.h @@ -39,6 +39,6 @@ #ifndef STATE_MACHINE_HELPER_TEST_H_ #define STATE_MACHINE_HELPER_TEST_ -void state_machine_helper_test(); +void stateMachineHelperTest(void); #endif /* STATE_MACHINE_HELPER_TEST_H_ */ diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 30cd0d48d4..cbc2844c11 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -110,8 +110,9 @@ int do_gyro_calibration(int mavlink_fd) gyro_scale.z_offset += gyro_report.z; calibration_counter++; - if (calibration_counter % (calibration_count / 20) == 0) + if (calibration_counter % (calibration_count / 20) == 0) { mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count); + } } else { poll_errcount++; @@ -163,8 +164,9 @@ int do_gyro_calibration(int mavlink_fd) /* apply new offsets */ fd = open(GYRO_DEVICE_PATH, 0); - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale)) + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale)) { warn("WARNING: failed to apply new offsets for gyro"); + } close(fd); @@ -178,9 +180,9 @@ int do_gyro_calibration(int mavlink_fd) float mag_last = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]); - if (mag_last > M_PI_F) mag_last -= 2 * M_PI_F; + if (mag_last > M_PI_F) { mag_last -= 2 * M_PI_F; } - if (mag_last < -M_PI_F) mag_last += 2 * M_PI_F; + if (mag_last < -M_PI_F) { mag_last += 2 * M_PI_F; } uint64_t last_time = hrt_absolute_time(); @@ -220,15 +222,15 @@ int do_gyro_calibration(int mavlink_fd) //float mag = -atan2f(magNav(1),magNav(0)); float mag = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]); - if (mag > M_PI_F) mag -= 2 * M_PI_F; + if (mag > M_PI_F) { mag -= 2 * M_PI_F; } - if (mag < -M_PI_F) mag += 2 * M_PI_F; + if (mag < -M_PI_F) { mag += 2 * M_PI_F; } float diff = mag - mag_last; - if (diff > M_PI_F) diff -= 2 * M_PI_F; + if (diff > M_PI_F) { diff -= 2 * M_PI_F; } - if (diff < -M_PI_F) diff += 2 * M_PI_F; + if (diff < -M_PI_F) { diff += 2 * M_PI_F; } baseline_integral += diff; mag_last = mag; diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 4ebf266f47..0ead22f773 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -72,7 +72,7 @@ int do_mag_calibration(int mavlink_fd) uint64_t calibration_interval = 45 * 1000 * 1000; /* maximum 500 values */ - const unsigned int calibration_maxcount = 500; + const unsigned int calibration_maxcount = 240; unsigned int calibration_counter; struct mag_scale mscale_null = { @@ -121,9 +121,24 @@ int do_mag_calibration(int mavlink_fd) if (x == NULL || y == NULL || z == NULL) { mavlink_log_critical(mavlink_fd, "ERROR: out of memory"); + + /* clean up */ + if (x != NULL) { + free(x); + } + + if (y != NULL) { + free(y); + } + + if (z != NULL) { + free(z); + } + res = ERROR; return res; } + } else { /* exit */ return ERROR; @@ -163,8 +178,9 @@ int do_mag_calibration(int mavlink_fd) calibration_counter++; - if (calibration_counter % (calibration_maxcount / 20) == 0) + if (calibration_counter % (calibration_maxcount / 20) == 0) { mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20 + (calibration_counter * 50) / calibration_maxcount); + } } else { poll_errcount++; @@ -198,14 +214,17 @@ int do_mag_calibration(int mavlink_fd) } } - if (x != NULL) + if (x != NULL) { free(x); + } - if (y != NULL) + if (y != NULL) { free(y); + } - if (z != NULL) + if (z != NULL) { free(z); + } if (res == OK) { /* apply calibration and set parameters */ @@ -234,23 +253,29 @@ int do_mag_calibration(int mavlink_fd) if (res == OK) { /* set parameters */ - if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) + if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { res = ERROR; + } - if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) + if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) { res = ERROR; + } - if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) + if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) { res = ERROR; + } - if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) + if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) { res = ERROR; + } - if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) + if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) { res = ERROR; + } - if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) + if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) { res = ERROR; + } if (res != OK) { mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG); diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk index 554dfcb080..27ca5c1823 100644 --- a/src/modules/commander/module.mk +++ b/src/modules/commander/module.mk @@ -47,3 +47,7 @@ SRCS = commander.cpp \ baro_calibration.cpp \ rc_calibration.cpp \ airspeed_calibration.cpp + +MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index d69ab30677..e0f8dc95dc 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -8,10 +8,12 @@ #ifndef PX4_CUSTOM_MODE_H_ #define PX4_CUSTOM_MODE_H_ +#include + enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_MANUAL = 1, - PX4_CUSTOM_MAIN_MODE_SEATBELT, - PX4_CUSTOM_MAIN_MODE_EASY, + PX4_CUSTOM_MAIN_MODE_ALTCTL, + PX4_CUSTOM_MAIN_MODE_POSCTL, PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_MAIN_MODE_ACRO, }; diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp index 41f3ca0aa1..0776894fb7 100644 --- a/src/modules/commander/rc_calibration.cpp +++ b/src/modules/commander/rc_calibration.cpp @@ -69,11 +69,11 @@ int do_trim_calibration(int mavlink_fd) orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); /* set parameters */ - float p = sp.roll; + float p = sp.y; param_set(param_find("TRIM_ROLL"), &p); - p = sp.pitch; + p = sp.x; param_set(param_find("TRIM_PITCH"), &p); - p = sp.yaw; + p = sp.r; param_set(param_find("TRIM_YAW"), &p); /* store to permanent storage */ diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index d5ecd96474..f1a353d5b3 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -44,6 +44,7 @@ #include #include #include +#include #include #include @@ -68,10 +69,44 @@ static bool arming_state_changed = true; static bool main_state_changed = true; static bool failsafe_state_changed = true; +// This array defines the arming state transitions. The rows are the new state, and the columns +// are the current state. Using new state and current state you can index into the array which +// will be true for a valid transition or false for a invalid transition. In some cases even +// though the transition is marked as true additional checks must be made. See arming_state_transition +// code for those checks. +static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = { + // INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE + { /* ARMING_STATE_INIT */ true, true, false, false, false, false, false }, + { /* ARMING_STATE_STANDBY */ true, true, true, true, false, false, false }, + { /* ARMING_STATE_ARMED */ false, true, true, false, false, false, true }, + { /* ARMING_STATE_ARMED_ERROR */ false, false, true, true, false, false, false }, + { /* ARMING_STATE_STANDBY_ERROR */ true, true, false, true, true, false, false }, + { /* ARMING_STATE_REBOOT */ true, true, false, false, true, true, true }, + { /* ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false, false }, // NYI +}; + +// You can index into the array with an arming_state_t in order to get it's textual representation +static const char *state_names[ARMING_STATE_MAX] = { + "ARMING_STATE_INIT", + "ARMING_STATE_STANDBY", + "ARMING_STATE_ARMED", + "ARMING_STATE_ARMED_ERROR", + "ARMING_STATE_STANDBY_ERROR", + "ARMING_STATE_REBOOT", + "ARMING_STATE_IN_AIR_RESTORE", +}; + transition_result_t -arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety, - arming_state_t new_arming_state, struct actuator_armed_s *armed) +arming_state_transition(struct vehicle_status_s *status, /// current vehicle status + const struct safety_s *safety, /// current safety settings + arming_state_t new_arming_state, /// arming state requested + struct actuator_armed_s *armed, /// current armed status + const int mavlink_fd) /// mavlink fd for error reporting, 0 for none { + // Double check that our static arrays are still valid + ASSERT(ARMING_STATE_INIT == 0); + ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1); + /* * Perform an atomic state update */ @@ -84,7 +119,6 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * ret = TRANSITION_NOT_CHANGED; } else { - /* enforce lockdown in HIL */ if (status->hil_state == HIL_STATE_ON) { armed->lockdown = true; @@ -93,95 +127,43 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * armed->lockdown = false; } - switch (new_arming_state) { - case ARMING_STATE_INIT: + // Check that we have a valid state transition + bool valid_transition = arming_transitions[new_arming_state][status->arming_state]; - /* allow going back from INIT for calibration */ - if (status->arming_state == ARMING_STATE_STANDBY) { - ret = TRANSITION_CHANGED; - armed->armed = false; - armed->ready_to_arm = false; - } + if (valid_transition) { + // We have a good transition. Now perform any secondary validation. + if (new_arming_state == ARMING_STATE_ARMED) { + // Fail transition if we need safety switch press + // Allow if coming from in air restore + // Allow if HIL_STATE_ON + if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) { + if (mavlink_fd) { + mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first."); + } - break; - - case ARMING_STATE_STANDBY: - - /* allow coming from INIT and disarming from ARMED */ - if (status->arming_state == ARMING_STATE_INIT - || status->arming_state == ARMING_STATE_ARMED - || status->hil_state == HIL_STATE_ON) { - - /* sensors need to be initialized for STANDBY state */ - if (status->condition_system_sensors_initialized) { - ret = TRANSITION_CHANGED; - armed->armed = false; - armed->ready_to_arm = true; + valid_transition = false; } + + } else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) { + new_arming_state = ARMING_STATE_STANDBY_ERROR; } - - break; - - case ARMING_STATE_ARMED: - - /* allow arming from STANDBY and IN-AIR-RESTORE */ - if ((status->arming_state == ARMING_STATE_STANDBY - || status->arming_state == ARMING_STATE_IN_AIR_RESTORE) - && (!safety->safety_switch_available || safety->safety_off || status->hil_state == HIL_STATE_ON)) { /* only allow arming if safety is off */ - ret = TRANSITION_CHANGED; - armed->armed = true; - armed->ready_to_arm = true; - } - - break; - - case ARMING_STATE_ARMED_ERROR: - - /* an armed error happens when ARMED obviously */ - if (status->arming_state == ARMING_STATE_ARMED) { - ret = TRANSITION_CHANGED; - armed->armed = true; - armed->ready_to_arm = false; - } - - break; - - case ARMING_STATE_STANDBY_ERROR: - - /* a disarmed error happens when in STANDBY or in INIT or after ARMED_ERROR */ - if (status->arming_state == ARMING_STATE_STANDBY - || status->arming_state == ARMING_STATE_INIT - || status->arming_state == ARMING_STATE_ARMED_ERROR) { - ret = TRANSITION_CHANGED; - armed->armed = false; - armed->ready_to_arm = false; - } - - break; - - case ARMING_STATE_REBOOT: - - /* an armed error happens when ARMED obviously */ - if (status->arming_state == ARMING_STATE_INIT - || status->arming_state == ARMING_STATE_STANDBY - || status->arming_state == ARMING_STATE_STANDBY_ERROR) { - ret = TRANSITION_CHANGED; - armed->armed = false; - armed->ready_to_arm = false; - } - - break; - - case ARMING_STATE_IN_AIR_RESTORE: - - /* XXX implement */ - break; - - default: - break; } - if (ret == TRANSITION_CHANGED) { + // HIL can always go to standby + if (status->hil_state == HIL_STATE_ON && new_arming_state == ARMING_STATE_STANDBY) { + valid_transition = true; + } + + /* Sensors need to be initialized for STANDBY state */ + if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) { + valid_transition = false; + } + + // Finish up the state transition + if (valid_transition) { + armed->armed = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_ARMED_ERROR; + armed->ready_to_arm = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_STANDBY; + ret = TRANSITION_CHANGED; status->arming_state = new_arming_state; arming_state_changed = true; } @@ -190,8 +172,15 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * /* end of atomic state update */ irqrestore(flags); - if (ret == TRANSITION_DENIED) - warnx("arming transition rejected"); + if (ret == TRANSITION_DENIED) { + static const char *errMsg = "Invalid arming transition from %s to %s"; + + if (mavlink_fd) { + mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]); + } + + warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]); + } return ret; } @@ -237,7 +226,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta ret = TRANSITION_CHANGED; break; - case MAIN_STATE_SEATBELT: + case MAIN_STATE_ALTCTL: /* need at minimum altitude estimate */ if (!status->is_rotary_wing || @@ -248,7 +237,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta break; - case MAIN_STATE_EASY: + case MAIN_STATE_POSCTL: /* need at minimum local position estimate */ if (status->condition_local_position_valid || @@ -313,10 +302,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s bool valid_transition = false; int ret = ERROR; - warnx("Current state: %d, requested state: %d", current_status->hil_state, new_state); - if (current_status->hil_state == new_state) { - warnx("Hil state not changed"); valid_transition = true; } else { @@ -344,23 +330,67 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s /* list directory */ DIR *d; - struct dirent *direntry; d = opendir("/dev"); + if (d) { + struct dirent *direntry; + char devname[24]; + while ((direntry = readdir(d)) != NULL) { - int sensfd = ::open(direntry->d_name, 0); - int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 0); + /* skip serial ports */ + if (!strncmp("tty", direntry->d_name, 3)) { + continue; + } + + /* skip mtd devices */ + if (!strncmp("mtd", direntry->d_name, 3)) { + continue; + } + + /* skip ram devices */ + if (!strncmp("ram", direntry->d_name, 3)) { + continue; + } + + /* skip MMC devices */ + if (!strncmp("mmc", direntry->d_name, 3)) { + continue; + } + + /* skip mavlink */ + if (!strcmp("mavlink", direntry->d_name)) { + continue; + } + + /* skip console */ + if (!strcmp("console", direntry->d_name)) { + continue; + } + + /* skip null */ + if (!strcmp("null", direntry->d_name)) { + continue; + } + + snprintf(devname, sizeof(devname), "/dev/%s", direntry->d_name); + + int sensfd = ::open(devname, 0); + + if (sensfd < 0) { + warn("failed opening device %s", devname); + continue; + } + + int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 1); close(sensfd); - printf("Disabling %s\n: %s", direntry->d_name, (!block_ret) ? "OK" : "FAIL"); + printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR"); } closedir(d); - warnx("directory listing ok (FS mounted and readable)"); - } else { /* failed opening dir */ warnx("FAILED LISTING DEVICE ROOT DIRECTORY"); diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index f04879ff9e..0ddd4f05a2 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -57,7 +57,7 @@ typedef enum { } transition_result_t; transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety, - arming_state_t new_arming_state, struct actuator_armed_s *armed); + arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd = 0); bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed); diff --git a/src/modules/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp index b964d40a31..6768bfa7ed 100644 --- a/src/modules/controllib/block/Block.cpp +++ b/src/modules/controllib/block/Block.cpp @@ -41,10 +41,11 @@ #include #include +#include +#include + #include "Block.hpp" #include "BlockParam.hpp" -#include "../uorb/UOrbSubscription.hpp" -#include "../uorb/UOrbPublication.hpp" namespace control { @@ -100,7 +101,7 @@ void Block::updateParams() void Block::updateSubscriptions() { - UOrbSubscriptionBase *sub = getSubscriptions().getHead(); + uORB::SubscriptionBase *sub = getSubscriptions().getHead(); int count = 0; while (sub != NULL) { @@ -118,7 +119,7 @@ void Block::updateSubscriptions() void Block::updatePublications() { - UOrbPublicationBase *pub = getPublications().getHead(); + uORB::PublicationBase *pub = getPublications().getHead(); int count = 0; while (pub != NULL) { diff --git a/src/modules/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp index 258701f279..736698e213 100644 --- a/src/modules/controllib/block/Block.hpp +++ b/src/modules/controllib/block/Block.hpp @@ -42,7 +42,13 @@ #include #include -#include "List.hpp" +#include + +// forward declaration +namespace uORB { + class SubscriptionBase; + class PublicationBase; +} namespace control { @@ -55,8 +61,6 @@ static const uint8_t blockNameLengthMax = 80; // forward declaration class BlockParamBase; -class UOrbSubscriptionBase; -class UOrbPublicationBase; class SuperBlock; /** @@ -79,15 +83,15 @@ public: protected: // accessors SuperBlock *getParent() { return _parent; } - List & getSubscriptions() { return _subscriptions; } - List & getPublications() { return _publications; } + List & getSubscriptions() { return _subscriptions; } + List & getPublications() { return _publications; } List & getParams() { return _params; } // attributes const char *_name; SuperBlock *_parent; float _dt; - List _subscriptions; - List _publications; + List _subscriptions; + List _publications; List _params; }; diff --git a/src/modules/controllib/block/BlockParam.cpp b/src/modules/controllib/block/BlockParam.cpp index fd12e365dc..8f98da74fa 100644 --- a/src/modules/controllib/block/BlockParam.cpp +++ b/src/modules/controllib/block/BlockParam.cpp @@ -76,4 +76,29 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref printf("error finding param: %s\n", fullname); }; +template +BlockParam::BlockParam(Block *block, const char *name, + bool parent_prefix) : + BlockParamBase(block, name, parent_prefix), + _val() { + update(); +} + +template +T BlockParam::get() { return _val; } + +template +void BlockParam::set(T val) { _val = val; } + +template +void BlockParam::update() { + if (_handle != PARAM_INVALID) param_get(_handle, &_val); +} + +template +BlockParam::~BlockParam() {}; + +template class __EXPORT BlockParam; +template class __EXPORT BlockParam; + } // namespace control diff --git a/src/modules/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp index 36bc8c24ba..a64d0139e3 100644 --- a/src/modules/controllib/block/BlockParam.hpp +++ b/src/modules/controllib/block/BlockParam.hpp @@ -42,7 +42,7 @@ #include #include "Block.hpp" -#include "List.hpp" +#include namespace control { @@ -70,38 +70,21 @@ protected: * Parameters that are tied to blocks for updating and nameing. */ -class __EXPORT BlockParamFloat : public BlockParamBase +template +class BlockParam : public BlockParamBase { public: - BlockParamFloat(Block *block, const char *name, bool parent_prefix=true) : - BlockParamBase(block, name, parent_prefix), - _val() { - update(); - } - float get() { return _val; } - void set(float val) { _val = val; } - void update() { - if (_handle != PARAM_INVALID) param_get(_handle, &_val); - } + BlockParam(Block *block, const char *name, + bool parent_prefix=true); + T get(); + void set(T val); + void update(); + virtual ~BlockParam(); protected: - float _val; + T _val; }; -class __EXPORT BlockParamInt : public BlockParamBase -{ -public: - BlockParamInt(Block *block, const char *name, bool parent_prefix=true) : - BlockParamBase(block, name, parent_prefix), - _val() { - update(); - } - int get() { return _val; } - void set(int val) { _val = val; } - void update() { - if (_handle != PARAM_INVALID) param_get(_handle, &_val); - } -protected: - int _val; -}; +typedef BlockParam BlockParamFloat; +typedef BlockParam BlockParamInt; } // namespace control diff --git a/src/modules/controllib/module.mk b/src/modules/controllib/module.mk index d815a8feb5..f0139a4b70 100644 --- a/src/modules/controllib/module.mk +++ b/src/modules/controllib/module.mk @@ -37,7 +37,5 @@ SRCS = test_params.c \ block/Block.cpp \ block/BlockParam.cpp \ - uorb/UOrbPublication.cpp \ - uorb/UOrbSubscription.cpp \ uorb/blocks.cpp \ blocks.cpp diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp index 7c80c4b2ba..a8a70507e9 100644 --- a/src/modules/controllib/uorb/blocks.hpp +++ b/src/modules/controllib/uorb/blocks.hpp @@ -62,8 +62,8 @@ extern "C" { } #include "../blocks.hpp" -#include "UOrbSubscription.hpp" -#include "UOrbPublication.hpp" +#include +#include namespace control { @@ -94,16 +94,16 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock { protected: // subscriptions - UOrbSubscription _att; - UOrbSubscription _attCmd; - UOrbSubscription _ratesCmd; - UOrbSubscription _pos; - UOrbSubscription _missionCmd; - UOrbSubscription _manual; - UOrbSubscription _status; - UOrbSubscription _param_update; + uORB::Subscription _att; + uORB::Subscription _attCmd; + uORB::Subscription _ratesCmd; + uORB::Subscription _pos; + uORB::Subscription _missionCmd; + uORB::Subscription _manual; + uORB::Subscription _status; + uORB::Subscription _param_update; // publications - UOrbPublication _actuators; + uORB::Publication _actuators; public: BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name); virtual ~BlockUorbEnabledAutopilot(); diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index fa88dfaffb..1a65313e89 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * Jean Cyr + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,22 +33,21 @@ /** * @file dataman.c * DATAMANAGER driver. + * + * @author Jean Cyr + * @author Lorenz Meier + * @author Julian Oes + * @author Thomas Gubler */ #include #include #include -#include -#include #include -#include -#include -#include -#include -#include #include #include #include +#include #include "dataman.h" @@ -66,7 +63,7 @@ __EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t __EXPORT int dm_clear(dm_item_t item); __EXPORT int dm_restart(dm_reset_reason restart_type); -/* Types of function calls supported by the worker task */ +/** Types of function calls supported by the worker task */ typedef enum { dm_write_func = 0, dm_read_func, @@ -75,11 +72,12 @@ typedef enum { dm_number_of_funcs } dm_function_t; -/* Work task work item */ +/** Work task work item */ typedef struct { sq_entry_t link; /**< list linkage */ sem_t wait_sem; - dm_function_t func; + unsigned char first; + unsigned char func; ssize_t result; union { struct { @@ -104,6 +102,8 @@ typedef struct { }; } work_q_item_t; +const size_t k_work_item_allocation_chunk_size = 8; + /* Usage statistics */ static unsigned g_func_counts[dm_number_of_funcs]; @@ -175,13 +175,29 @@ create_work_item(void) /* Try to reuse item from free item queue */ lock_queue(&g_free_q); + if ((item = (work_q_item_t *)sq_remfirst(&(g_free_q.q)))) g_free_q.size--; + unlock_queue(&g_free_q); - /* If we there weren't any free items then obtain memory for a new one */ - if (item == NULL) - item = (work_q_item_t *)malloc(sizeof(work_q_item_t)); + /* If we there weren't any free items then obtain memory for a new ones */ + if (item == NULL) { + item = (work_q_item_t *)malloc(k_work_item_allocation_chunk_size * sizeof(work_q_item_t)); + if (item) { + item->first = 1; + lock_queue(&g_free_q); + for (int i = 1; i < k_work_item_allocation_chunk_size; i++) { + (item + i)->first = 0; + sq_addfirst(&(item + i)->link, &(g_free_q.q)); + } + /* Update the queue size and potentially the maximum queue size */ + g_free_q.size += k_work_item_allocation_chunk_size - 1; + if (g_free_q.size > g_free_q.max_size) + g_free_q.max_size = g_free_q.size; + unlock_queue(&g_free_q); + } + } /* If we got one then lock the item*/ if (item) @@ -289,11 +305,11 @@ _write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const v offset = calculate_offset(item, index); /* If item type or index out of range, return error */ - if (offset < 0) + if (offset < 0) return -1; /* Make sure caller has not given us more data than we can handle */ - if (count > DM_MAX_DATA_SIZE) + if (count > DM_MAX_DATA_SIZE) return -1; /* Write out the data, prefixed with length and persistence level */ @@ -339,6 +355,7 @@ _read(dm_item_t item, unsigned char index, void *buf, size_t count) /* Read the prefix and data */ len = -1; + if (lseek(g_task_fd, offset, SEEK_SET) == offset) len = read(g_task_fd, buffer, count + DM_SECTOR_HDR_SIZE); @@ -412,31 +429,31 @@ _clear(dm_item_t item) return result; } -/* Tell the data manager about the type of the last reset */ +/** Tell the data manager about the type of the last reset */ static int _restart(dm_reset_reason reason) { unsigned char buffer[2]; - int offset, result = 0; + int offset = 0, result = 0; /* We need to scan the entire file and invalidate and data that should not persist after the last reset */ /* Loop through all of the data segments and delete those that are not persistent */ - offset = 0; - while (1) { size_t len; /* Get data segment at current offset */ if (lseek(g_task_fd, offset, SEEK_SET) != offset) { - result = -1; + /* must be at eof */ break; } len = read(g_task_fd, buffer, sizeof(buffer)); - if (len == 0) + if (len != sizeof(buffer)) { + /* must be at eof */ break; + } /* check if segment contains data */ if (buffer[0]) { @@ -444,12 +461,12 @@ _restart(dm_reset_reason reason) /* Whether data gets deleted depends on reset type and data segment's persistence setting */ if (reason == DM_INIT_REASON_POWER_ON) { - if (buffer[1] != DM_PERSIST_POWER_ON_RESET) { + if (buffer[1] > DM_PERSIST_POWER_ON_RESET) { clear_entry = 1; } } else { - if ((buffer[1] != DM_PERSIST_POWER_ON_RESET) && (buffer[1] != DM_PERSIST_IN_FLIGHT_RESET)) { + if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) { clear_entry = 1; } } @@ -481,7 +498,7 @@ _restart(dm_reset_reason reason) return result; } -/* write to the data manager file */ +/** Write to the data manager file */ __EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buf, size_t count) { @@ -492,7 +509,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const return -1; /* get a work item and queue up a write request */ - if ((work = create_work_item()) == NULL) + if ((work = create_work_item()) == NULL) return -1; work->func = dm_write_func; @@ -506,7 +523,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const return (ssize_t)enqueue_work_item_and_wait_for_result(work); } -/* Retrieve from the data manager file */ +/** Retrieve from the data manager file */ __EXPORT ssize_t dm_read(dm_item_t item, unsigned char index, void *buf, size_t count) { @@ -597,21 +614,55 @@ task_main(int argc, char *argv[]) sem_init(&g_work_queued_sema, 1, 0); + /* See if the data manage file exists and is a multiple of the sector size */ + g_task_fd = open(k_data_manager_device_path, O_RDONLY | O_BINARY); + if (g_task_fd >= 0) { + /* File exists, check its size */ + int file_size = lseek(g_task_fd, 0, SEEK_END); + if ((file_size % k_sector_size) != 0) { + warnx("Incompatible data manager file %s, resetting it", k_data_manager_device_path); + close(g_task_fd); + unlink(k_data_manager_device_path); + } + else + close(g_task_fd); + } + /* Open or create the data manager file */ g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY); + if (g_task_fd < 0) { warnx("Could not open data manager file %s", k_data_manager_device_path); sem_post(&g_init_sema); /* Don't want to hang startup */ return -1; } - if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) { + + if ((unsigned)lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) { close(g_task_fd); warnx("Could not seek data manager file %s", k_data_manager_device_path); sem_post(&g_init_sema); /* Don't want to hang startup */ return -1; } + fsync(g_task_fd); + /* see if we need to erase any items based on restart type */ + int sys_restart_val; + if (param_get(param_find("SYS_RESTART_TYPE"), &sys_restart_val) == OK) { + if (sys_restart_val == DM_INIT_REASON_POWER_ON) { + warnx("Power on restart"); + _restart(DM_INIT_REASON_POWER_ON); + } + else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) { + warnx("In flight restart"); + _restart(DM_INIT_REASON_IN_FLIGHT); + } + else + warnx("Unknown restart"); + } + else + warnx("Unknown restart"); + /* We use two file descriptors, one for the caller context and one for the worker thread */ /* They are actually the same but we need to some way to reject caller request while the */ /* worker thread is shutting down but still processing requests */ @@ -684,8 +735,8 @@ task_main(int argc, char *argv[]) for (;;) { if ((work = (work_q_item_t *)sq_remfirst(&(g_free_q.q))) == NULL) break; - - free(work); + if (work->first) + free(work); } destroy_q(&g_work_q); @@ -703,12 +754,12 @@ start(void) sem_init(&g_init_sema, 1, 0); /* start the worker thread */ - if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, NULL)) <= 0) { + if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2000, task_main, NULL)) <= 0) { warn("task start failed"); return -1; } - /* wait for the thread to actuall initialize */ + /* wait for the thread to actually initialize */ sem_wait(&g_init_sema); sem_destroy(&g_init_sema); @@ -767,13 +818,12 @@ dataman_main(int argc, char *argv[]) stop(); else if (!strcmp(argv[1], "status")) status(); - else if (!strcmp(argv[1], "poweronrestart")) - dm_restart(DM_INIT_REASON_POWER_ON); - else if (!strcmp(argv[1], "inflightrestart")) - dm_restart(DM_INIT_REASON_IN_FLIGHT); + else if (!strcmp(argv[1], "poweronrestart")) + dm_restart(DM_INIT_REASON_POWER_ON); + else if (!strcmp(argv[1], "inflightrestart")) + dm_restart(DM_INIT_REASON_IN_FLIGHT); else usage(); exit(1); } - diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h index a70638cccc..1dfb26f73d 100644 --- a/src/modules/dataman/dataman.h +++ b/src/modules/dataman/dataman.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -46,7 +46,7 @@ extern "C" { #endif - /* Types of items that the data manager can store */ + /** Types of items that the data manager can store */ typedef enum { DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */ DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */ @@ -56,7 +56,7 @@ extern "C" { DM_KEY_NUM_KEYS /* Total number of item types defined */ } dm_item_t; - /* The maximum number of instances for each item type */ + /** The maximum number of instances for each item type */ enum { DM_KEY_SAFE_POINTS_MAX = 8, DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES, @@ -65,23 +65,24 @@ extern "C" { DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED }; - /* Data persistence levels */ + /** Data persistence levels */ typedef enum { DM_PERSIST_POWER_ON_RESET = 0, /* Data survives all resets */ DM_PERSIST_IN_FLIGHT_RESET, /* Data survives in-flight resets only */ DM_PERSIST_VOLATILE /* Data does not survive resets */ } dm_persitence_t; - /* The reason for the last reset */ + /** The reason for the last reset */ typedef enum { DM_INIT_REASON_POWER_ON = 0, /* Data survives resets */ - DM_INIT_REASON_IN_FLIGHT /* Data survives in-flight resets only */ + DM_INIT_REASON_IN_FLIGHT, /* Data survives in-flight resets only */ + DM_INIT_REASON_VOLATILE /* Data does not survive reset */ } dm_reset_reason; - /* Maximum size in bytes of a single item instance */ - #define DM_MAX_DATA_SIZE 126 + /** Maximum size in bytes of a single item instance */ + #define DM_MAX_DATA_SIZE 124 - /* Retrieve from the data manager store */ + /** Retrieve from the data manager store */ __EXPORT ssize_t dm_read( dm_item_t item, /* The item type to retrieve */ @@ -90,7 +91,7 @@ extern "C" { size_t buflen /* Length in bytes of data to retrieve */ ); - /* write to the data manager store */ + /** write to the data manager store */ __EXPORT ssize_t dm_write( dm_item_t item, /* The item type to store */ @@ -100,13 +101,13 @@ extern "C" { size_t buflen /* Length in bytes of data to retrieve */ ); - /* Retrieve from the data manager store */ + /** Erase all items of this type */ __EXPORT int dm_clear( dm_item_t item /* The item type to clear */ ); - /* Tell the data manager about the type of the last reset */ + /** Tell the data manager about the type of the last reset */ __EXPORT int dm_restart( dm_reset_reason restart_type /* The last reset type */ diff --git a/src/modules/dataman/module.mk b/src/modules/dataman/module.mk index dce7a62358..234607b3de 100644 --- a/src/modules/dataman/module.mk +++ b/src/modules/dataman/module.mk @@ -39,4 +39,4 @@ MODULE_COMMAND = dataman SRCS = dataman.c -INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink +MODULE_STACKSIZE = 1200 diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp new file mode 100644 index 0000000000..7a71894ed8 --- /dev/null +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -0,0 +1,1523 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * + * 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 ekf_att_pos_estimator_main.cpp + * Implementation of the attitude and position estimator. + * + * @author Paul Riseborough + * @author Lorenz Meier + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define SENSOR_COMBINED_SUB + + +#include +#include +#include +#include +#ifdef SENSOR_COMBINED_SUB +#include +#endif +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "estimator.h" + + + +/** + * estimator app start / stop handling function + * + * @ingroup apps + */ +extern "C" __EXPORT int ekf_att_pos_estimator_main(int argc, char *argv[]); + +__EXPORT uint32_t millis(); + +static uint64_t last_run = 0; +static uint64_t IMUmsec = 0; +static const uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000; + +uint32_t millis() +{ + return IMUmsec; +} + +class FixedwingEstimator +{ +public: + /** + * Constructor + */ + FixedwingEstimator(); + + /** + * Destructor, also kills the sensors task. + */ + ~FixedwingEstimator(); + + /** + * Start the sensors task. + * + * @return OK on success. + */ + int start(); + + /** + * Print the current status. + */ + void print_status(); + + /** + * Trip the filter by feeding it NaN values. + */ + int trip_nan(); + +private: + + bool _task_should_exit; /**< if true, sensor task should exit */ + int _estimator_task; /**< task handle for sensor task */ +#ifndef SENSOR_COMBINED_SUB + int _gyro_sub; /**< gyro sensor subscription */ + int _accel_sub; /**< accel sensor subscription */ + int _mag_sub; /**< mag sensor subscription */ +#else + int _sensor_combined_sub; +#endif + int _airspeed_sub; /**< airspeed subscription */ + int _baro_sub; /**< barometer subscription */ + int _gps_sub; /**< GPS subscription */ + int _vstatus_sub; /**< vehicle status subscription */ + int _params_sub; /**< notification of parameter updates */ + int _manual_control_sub; /**< notification of manual control updates */ + int _mission_sub; + int _home_sub; /**< home position as defined by commander / user */ + + orb_advert_t _att_pub; /**< vehicle attitude */ + orb_advert_t _global_pos_pub; /**< global position */ + orb_advert_t _local_pos_pub; /**< position in local frame */ + orb_advert_t _estimator_status_pub; /**< status of the estimator */ + + struct vehicle_attitude_s _att; /**< vehicle attitude */ + struct gyro_report _gyro; + struct accel_report _accel; + struct mag_report _mag; + struct airspeed_s _airspeed; /**< airspeed */ + struct baro_report _baro; /**< baro readings */ + struct vehicle_status_s _vstatus; /**< vehicle status */ + struct vehicle_global_position_s _global_pos; /**< global vehicle position */ + struct vehicle_local_position_s _local_pos; /**< local vehicle position */ + struct vehicle_gps_position_s _gps; /**< GPS position */ + + struct gyro_scale _gyro_offsets; + struct accel_scale _accel_offsets; + struct mag_scale _mag_offsets; + +#ifdef SENSOR_COMBINED_SUB + struct sensor_combined_s _sensor_combined; +#endif + + struct map_projection_reference_s _pos_ref; + + float _baro_ref; /**< barometer reference altitude */ + float _baro_gps_offset; /**< offset between GPS and baro */ + + perf_counter_t _loop_perf; /**< loop performance counter */ + perf_counter_t _perf_gyro; /// 0) { + res = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&_gyro_offsets); + close(fd); + + if (res) { + warnx("G SCALE FAIL"); + } + } + + fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd > 0) { + res = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&_accel_offsets); + close(fd); + + if (res) { + warnx("A SCALE FAIL"); + } + } + + fd = open(MAG_DEVICE_PATH, O_RDONLY); + + if (fd > 0) { + res = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&_mag_offsets); + close(fd); + + if (res) { + warnx("M SCALE FAIL"); + } + } +} + +FixedwingEstimator::~FixedwingEstimator() +{ + if (_estimator_task != -1) { + + /* task wakes up every 100ms or so at the longest */ + _task_should_exit = true; + + /* wait for a second for the task to quit at our request */ + unsigned i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + task_delete(_estimator_task); + break; + } + } while (_estimator_task != -1); + } + + estimator::g_estimator = nullptr; +} + +int +FixedwingEstimator::parameters_update() +{ + + param_get(_parameter_handles.vel_delay_ms, &(_parameters.vel_delay_ms)); + param_get(_parameter_handles.pos_delay_ms, &(_parameters.pos_delay_ms)); + param_get(_parameter_handles.height_delay_ms, &(_parameters.height_delay_ms)); + param_get(_parameter_handles.mag_delay_ms, &(_parameters.mag_delay_ms)); + param_get(_parameter_handles.tas_delay_ms, &(_parameters.tas_delay_ms)); + param_get(_parameter_handles.velne_noise, &(_parameters.velne_noise)); + param_get(_parameter_handles.veld_noise, &(_parameters.veld_noise)); + param_get(_parameter_handles.posne_noise, &(_parameters.posne_noise)); + param_get(_parameter_handles.posd_noise, &(_parameters.posd_noise)); + param_get(_parameter_handles.mag_noise, &(_parameters.mag_noise)); + param_get(_parameter_handles.gyro_pnoise, &(_parameters.gyro_pnoise)); + param_get(_parameter_handles.acc_pnoise, &(_parameters.acc_pnoise)); + param_get(_parameter_handles.gbias_pnoise, &(_parameters.gbias_pnoise)); + param_get(_parameter_handles.abias_pnoise, &(_parameters.abias_pnoise)); + param_get(_parameter_handles.mage_pnoise, &(_parameters.mage_pnoise)); + param_get(_parameter_handles.magb_pnoise, &(_parameters.magb_pnoise)); + param_get(_parameter_handles.eas_noise, &(_parameters.eas_noise)); + param_get(_parameter_handles.pos_stddev_threshold, &(_parameters.pos_stddev_threshold)); + + if (_ekf) { + // _ekf->yawVarScale = 1.0f; + // _ekf->windVelSigma = 0.1f; + _ekf->dAngBiasSigma = _parameters.gbias_pnoise; + _ekf->dVelBiasSigma = _parameters.abias_pnoise; + _ekf->magEarthSigma = _parameters.mage_pnoise; + _ekf->magBodySigma = _parameters.magb_pnoise; + // _ekf->gndHgtSigma = 0.02f; + _ekf->vneSigma = _parameters.velne_noise; + _ekf->vdSigma = _parameters.veld_noise; + _ekf->posNeSigma = _parameters.posne_noise; + _ekf->posDSigma = _parameters.posd_noise; + _ekf->magMeasurementSigma = _parameters.mag_noise; + _ekf->gyroProcessNoise = _parameters.gyro_pnoise; + _ekf->accelProcessNoise = _parameters.acc_pnoise; + _ekf->airspeedMeasurementSigma = _parameters.eas_noise; + } + + return OK; +} + +void +FixedwingEstimator::vehicle_status_poll() +{ + bool vstatus_updated; + + /* Check HIL state if vehicle status has changed */ + orb_check(_vstatus_sub, &vstatus_updated); + + if (vstatus_updated) { + + orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus); + } +} + +void +FixedwingEstimator::task_main_trampoline(int argc, char *argv[]) +{ + estimator::g_estimator->task_main(); +} + +void +FixedwingEstimator::task_main() +{ + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + _ekf = new AttPosEKF(); + float dt = 0.0f; // time lapsed since last covariance prediction + _filter_start_time = hrt_absolute_time(); + + if (!_ekf) { + errx(1, "failed allocating EKF filter - out of RAM!"); + } + + /* + * do subscriptions + */ + _baro_sub = orb_subscribe(ORB_ID(sensor_baro)); + _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + _gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); + _params_sub = orb_subscribe(ORB_ID(parameter_update)); + _home_sub = orb_subscribe(ORB_ID(home_position)); + + /* rate limit vehicle status updates to 5Hz */ + orb_set_interval(_vstatus_sub, 200); + +#ifndef SENSOR_COMBINED_SUB + + _gyro_sub = orb_subscribe(ORB_ID(sensor_gyro)); + _accel_sub = orb_subscribe(ORB_ID(sensor_accel)); + _mag_sub = orb_subscribe(ORB_ID(sensor_mag)); + + /* rate limit gyro updates to 50 Hz */ + /* XXX remove this!, BUT increase the data buffer size! */ + orb_set_interval(_gyro_sub, 4); +#else + _sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); + /* XXX remove this!, BUT increase the data buffer size! */ + orb_set_interval(_sensor_combined_sub, 4); +#endif + + /* sets also parameters in the EKF object */ + parameters_update(); + + Vector3f lastAngRate = {0.0f, 0.0f, 0.0f}; + Vector3f lastAccel = {0.0f, 0.0f, 0.0f}; + + /* wakeup source(s) */ + struct pollfd fds[2]; + + /* Setup of loop */ + fds[0].fd = _params_sub; + fds[0].events = POLLIN; +#ifndef SENSOR_COMBINED_SUB + fds[1].fd = _gyro_sub; + fds[1].events = POLLIN; +#else + fds[1].fd = _sensor_combined_sub; + fds[1].events = POLLIN; +#endif + + bool newDataGps = false; + bool newHgtData = false; + bool newAdsData = false; + bool newDataMag = false; + + while (!_task_should_exit) { + + /* wait for up to 500ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + + /* timed out - periodic check for _task_should_exit, etc. */ + if (pret == 0) + continue; + + /* this is undesirable but not much we can do - might want to flag unhappy status */ + if (pret < 0) { + warn("poll error %d, %d", pret, errno); + continue; + } + + perf_begin(_loop_perf); + + /* only update parameters if they changed */ + if (fds[0].revents & POLLIN) { + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), _params_sub, &update); + + /* update parameters from storage */ + parameters_update(); + } + + /* only run estimator if gyro updated */ + if (fds[1].revents & POLLIN) { + + /* check vehicle status for changes to publication state */ + bool prev_hil = (_vstatus.hil_state == HIL_STATE_ON); + vehicle_status_poll(); + + bool accel_updated; + bool mag_updated; + + hrt_abstime last_sensor_timestamp; + + perf_count(_perf_gyro); + + /* Reset baro reference if switching to HIL, reset sensor states */ + if (!prev_hil && (_vstatus.hil_state == HIL_STATE_ON)) { + /* system is in HIL now, wait for measurements to come in one last round */ + usleep(60000); + +#ifndef SENSOR_COMBINED_SUB + orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro); + orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel); + orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag); +#else + /* now read all sensor publications to ensure all real sensor data is purged */ + orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined); +#endif + + /* set sensors to de-initialized state */ + _gyro_valid = false; + _accel_valid = false; + _mag_valid = false; + + _baro_init = false; + _gps_initialized = false; + last_sensor_timestamp = hrt_absolute_time(); + last_run = last_sensor_timestamp; + + _ekf->ZeroVariables(); + _ekf->dtIMU = 0.01f; + _filter_start_time = last_sensor_timestamp; + + /* now skip this loop and get data on the next one, which will also re-init the filter */ + continue; + } + + /** + * PART ONE: COLLECT ALL DATA + **/ + + /* load local copies */ +#ifndef SENSOR_COMBINED_SUB + orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro); + + + orb_check(_accel_sub, &accel_updated); + + if (accel_updated) { + perf_count(_perf_accel); + orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel); + } + + last_sensor_timestamp = _gyro.timestamp; + IMUmsec = _gyro.timestamp / 1e3f; + + float deltaT = (_gyro.timestamp - last_run) / 1e6f; + last_run = _gyro.timestamp; + + /* guard against too large deltaT's */ + if (!isfinite(deltaT) || deltaT > 1.0f || deltaT < 0.000001f) { + deltaT = 0.01f; + } + + + // Always store data, independent of init status + /* fill in last data set */ + _ekf->dtIMU = deltaT; + + if (isfinite(_gyro.x) && + isfinite(_gyro.y) && + isfinite(_gyro.z)) { + _ekf->angRate.x = _gyro.x; + _ekf->angRate.y = _gyro.y; + _ekf->angRate.z = _gyro.z; + + if (!_gyro_valid) { + lastAngRate = _ekf->angRate; + } + + _gyro_valid = true; + } + + if (accel_updated) { + _ekf->accel.x = _accel.x; + _ekf->accel.y = _accel.y; + _ekf->accel.z = _accel.z; + + if (!_accel_valid) { + lastAccel = _ekf->accel; + } + + _accel_valid = true; + } + + _ekf->dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU; + _ekf->lastAngRate = angRate; + _ekf->dVelIMU = 0.5f * (accel + lastAccel) * dtIMU; + _ekf->lastAccel = accel; + + +#else + orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined); + + static hrt_abstime last_accel = 0; + static hrt_abstime last_mag = 0; + + if (last_accel != _sensor_combined.accelerometer_timestamp) { + accel_updated = true; + } else { + accel_updated = false; + } + + last_accel = _sensor_combined.accelerometer_timestamp; + + + // Copy gyro and accel + last_sensor_timestamp = _sensor_combined.timestamp; + IMUmsec = _sensor_combined.timestamp / 1e3f; + + float deltaT = (_sensor_combined.timestamp - last_run) / 1e6f; + + /* guard against too large deltaT's */ + if (!isfinite(deltaT) || deltaT > 1.0f || deltaT < 0.000001f) { + deltaT = 0.01f; + } + + last_run = _sensor_combined.timestamp; + + // Always store data, independent of init status + /* fill in last data set */ + _ekf->dtIMU = deltaT; + + if (isfinite(_sensor_combined.gyro_rad_s[0]) && + isfinite(_sensor_combined.gyro_rad_s[1]) && + isfinite(_sensor_combined.gyro_rad_s[2])) { + _ekf->angRate.x = _sensor_combined.gyro_rad_s[0]; + _ekf->angRate.y = _sensor_combined.gyro_rad_s[1]; + _ekf->angRate.z = _sensor_combined.gyro_rad_s[2]; + + if (!_gyro_valid) { + lastAngRate = _ekf->angRate; + } + + _gyro_valid = true; + } + + if (accel_updated) { + _ekf->accel.x = _sensor_combined.accelerometer_m_s2[0]; + _ekf->accel.y = _sensor_combined.accelerometer_m_s2[1]; + _ekf->accel.z = _sensor_combined.accelerometer_m_s2[2]; + + if (!_accel_valid) { + lastAccel = _ekf->accel; + } + + _accel_valid = true; + } + + _ekf->dAngIMU = 0.5f * (_ekf->angRate + lastAngRate) * _ekf->dtIMU; + lastAngRate = _ekf->angRate; + _ekf->dVelIMU = 0.5f * (_ekf->accel + lastAccel) * _ekf->dtIMU; + lastAccel = _ekf->accel; + + if (last_mag != _sensor_combined.magnetometer_timestamp) { + mag_updated = true; + newDataMag = true; + + } else { + newDataMag = false; + } + + last_mag = _sensor_combined.magnetometer_timestamp; + +#endif + + bool airspeed_updated; + orb_check(_airspeed_sub, &airspeed_updated); + + if (airspeed_updated) { + orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed); + perf_count(_perf_airspeed); + + _ekf->VtasMeas = _airspeed.true_airspeed_m_s; + newAdsData = true; + + } else { + newAdsData = false; + } + + bool gps_updated; + orb_check(_gps_sub, &gps_updated); + + if (gps_updated) { + + uint64_t last_gps = _gps.timestamp_position; + + orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps); + perf_count(_perf_gps); + + if (_gps.fix_type < 3) { + newDataGps = false; + + } else { + + /* store time of valid GPS measurement */ + _gps_start_time = hrt_absolute_time(); + + /* check if we had a GPS outage for a long time */ + if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) { + _ekf->ResetPosition(); + _ekf->ResetVelocity(); + _ekf->ResetStoredStates(); + } + + /* fuse GPS updates */ + + //_gps.timestamp / 1e3; + _ekf->GPSstatus = _gps.fix_type; + _ekf->velNED[0] = _gps.vel_n_m_s; + _ekf->velNED[1] = _gps.vel_e_m_s; + _ekf->velNED[2] = _gps.vel_d_m_s; + + // warnx("GPS updated: status: %d, vel: %8.4f %8.4f %8.4f", (int)GPSstatus, velNED[0], velNED[1], velNED[2]); + + _ekf->gpsLat = math::radians(_gps.lat / (double)1e7); + _ekf->gpsLon = math::radians(_gps.lon / (double)1e7) - M_PI; + _ekf->gpsHgt = _gps.alt / 1e3f; + + // if (_gps.s_variance_m_s > 0.25f && _gps.s_variance_m_s < 100.0f * 100.0f) { + // _ekf->vneSigma = sqrtf(_gps.s_variance_m_s); + // } else { + // _ekf->vneSigma = _parameters.velne_noise; + // } + + // if (_gps.p_variance_m > 0.25f && _gps.p_variance_m < 100.0f * 100.0f) { + // _ekf->posNeSigma = sqrtf(_gps.p_variance_m); + // } else { + // _ekf->posNeSigma = _parameters.posne_noise; + // } + + // warnx("vel: %8.4f pos: %8.4f", _gps.s_variance_m_s, _gps.p_variance_m); + + newDataGps = true; + + } + + } + + bool baro_updated; + orb_check(_baro_sub, &baro_updated); + + if (baro_updated) { + orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); + + _ekf->baroHgt = _baro.altitude; + + if (!_baro_init) { + _baro_ref = _baro.altitude; + _baro_init = true; + warnx("ALT REF INIT"); + } + + newHgtData = true; + } else { + newHgtData = false; + } + +#ifndef SENSOR_COMBINED_SUB + orb_check(_mag_sub, &mag_updated); +#endif + + if (mag_updated) { + + _mag_valid = true; + + perf_count(_perf_mag); + +#ifndef SENSOR_COMBINED_SUB + orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag); + + // XXX we compensate the offsets upfront - should be close to zero. + // 0.001f + _ekf->magData.x = _mag.x; + _ekf->magBias.x = 0.000001f; // _mag_offsets.x_offset + + _ekf->magData.y = _mag.y; + _ekf->magBias.y = 0.000001f; // _mag_offsets.y_offset + + _ekf->magData.z = _mag.z; + _ekf->magBias.z = 0.000001f; // _mag_offsets.y_offset + +#else + + // XXX we compensate the offsets upfront - should be close to zero. + // 0.001f + _ekf->magData.x = _sensor_combined.magnetometer_ga[0]; + _ekf->magBias.x = 0.000001f; // _mag_offsets.x_offset + + _ekf->magData.y = _sensor_combined.magnetometer_ga[1]; + _ekf->magBias.y = 0.000001f; // _mag_offsets.y_offset + + _ekf->magData.z = _sensor_combined.magnetometer_ga[2]; + _ekf->magBias.z = 0.000001f; // _mag_offsets.y_offset + +#endif + + newDataMag = true; + + } else { + newDataMag = false; + } + + + /** + * CHECK IF THE INPUT DATA IS SANE + */ + int check = _ekf->CheckAndBound(); + + const char* ekfname = "[ekf] "; + + switch (check) { + case 0: + /* all ok */ + break; + case 1: + { + const char* str = "NaN in states, resetting"; + warnx("%s", str); + mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str); + break; + } + case 2: + { + const char* str = "stale IMU data, resetting"; + warnx("%s", str); + mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str); + break; + } + case 3: + { + const char* str = "switching to dynamic state"; + warnx("%s", str); + mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str); + break; + } + + default: + { + const char* str = "unknown reset condition"; + warnx("%s", str); + mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str); + } + } + + // warn on fatal resets + if (check == 1) { + warnx("NUMERIC ERROR IN FILTER"); + } + + // If non-zero, we got a filter reset + if (check) { + + struct ekf_status_report ekf_report; + + _ekf->GetLastErrorState(&ekf_report); + + struct estimator_status_report rep; + memset(&rep, 0, sizeof(rep)); + rep.timestamp = hrt_absolute_time(); + + rep.states_nan = ekf_report.statesNaN; + rep.covariance_nan = ekf_report.covarianceNaN; + rep.kalman_gain_nan = ekf_report.kalmanGainsNaN; + + // Copy all states or at least all that we can fit + unsigned i = 0; + unsigned ekf_n_states = (sizeof(ekf_report.states) / sizeof(ekf_report.states[0])); + unsigned max_states = (sizeof(rep.states) / sizeof(rep.states[0])); + rep.n_states = (ekf_n_states < max_states) ? ekf_n_states : max_states; + + while ((i < ekf_n_states) && (i < max_states)) { + + rep.states[i] = ekf_report.states[i]; + i++; + } + + if (_estimator_status_pub > 0) { + orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep); + } else { + _estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &rep); + } + + /* set sensors to de-initialized state */ + _gyro_valid = false; + _accel_valid = false; + _mag_valid = false; + + _baro_init = false; + _gps_initialized = false; + last_sensor_timestamp = hrt_absolute_time(); + last_run = last_sensor_timestamp; + + _ekf->ZeroVariables(); + _ekf->dtIMU = 0.01f; + + // Let the system re-initialize itself + continue; + + } + + + /** + * PART TWO: EXECUTE THE FILTER + **/ + + if ((hrt_elapsed_time(&_filter_start_time) > FILTER_INIT_DELAY) && _baro_init && _gyro_valid && _accel_valid && _mag_valid) { + + float initVelNED[3]; + + if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph_m < _parameters.pos_stddev_threshold && _gps.epv_m < _parameters.pos_stddev_threshold) { + + initVelNED[0] = _gps.vel_n_m_s; + initVelNED[1] = _gps.vel_e_m_s; + initVelNED[2] = _gps.vel_d_m_s; + + // GPS is in scaled integers, convert + double lat = _gps.lat / 1.0e7; + double lon = _gps.lon / 1.0e7; + float gps_alt = _gps.alt / 1e3f; + + // Set up height correctly + orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); + _baro_gps_offset = _baro_ref - _baro.altitude; + _ekf->baroHgt = _baro.altitude; + _ekf->hgtMea = 1.0f * (_ekf->baroHgt - (_baro_ref)); + + // Set up position variables correctly + _ekf->GPSstatus = _gps.fix_type; + + _ekf->gpsLat = math::radians(lat); + _ekf->gpsLon = math::radians(lon) - M_PI; + _ekf->gpsHgt = gps_alt; + + // Look up mag declination based on current position + float declination = math::radians(get_mag_declination(lat, lon)); + + _ekf->InitialiseFilter(initVelNED, math::radians(lat), math::radians(lon) - M_PI, gps_alt, declination); + + // Initialize projection + _local_pos.ref_lat = lat; + _local_pos.ref_lon = lon; + _local_pos.ref_alt = gps_alt; + _local_pos.ref_timestamp = _gps.timestamp_position; + + map_projection_init(&_pos_ref, lat, lon); + mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt); + warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt, + (double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]); + warnx("BARO: %8.4f m / ref: %8.4f m / gps offs: %8.4f m", _ekf->baroHgt, _baro_ref, _baro_gps_offset); + warnx("GPS: eph: %8.4f, epv: %8.4f, declination: %8.4f", (double)_gps.eph_m, (double)_gps.epv_m, (double)math::degrees(declination)); + + _gps_initialized = true; + + } else if (!_ekf->statesInitialised) { + + initVelNED[0] = 0.0f; + initVelNED[1] = 0.0f; + initVelNED[2] = 0.0f; + _ekf->posNED[0] = 0.0f; + _ekf->posNED[1] = 0.0f; + _ekf->posNED[2] = 0.0f; + + _ekf->posNE[0] = _ekf->posNED[0]; + _ekf->posNE[1] = _ekf->posNED[1]; + + _local_pos.ref_alt = _baro_ref; + _baro_gps_offset = 0.0f; + + _ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f); + } + } + + // If valid IMU data and states initialised, predict states and covariances + if (_ekf->statesInitialised) { + // Run the strapdown INS equations every IMU update + _ekf->UpdateStrapdownEquationsNED(); +#if 0 + // debug code - could be tunred into a filter mnitoring/watchdog function + float tempQuat[4]; + + for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j]; + + quat2eul(eulerEst, tempQuat); + + for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j]; + + if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi; + + if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi; + +#endif + // store the predicted states for subsequent use by measurement fusion + _ekf->StoreStates(IMUmsec); + // Check if on ground - status is used by covariance prediction + _ekf->OnGroundCheck(); + // sum delta angles and time used by covariance prediction + _ekf->summedDelAng = _ekf->summedDelAng + _ekf->correctedDelAng; + _ekf->summedDelVel = _ekf->summedDelVel + _ekf->dVelIMU; + dt += _ekf->dtIMU; + + // perform a covariance prediction if the total delta angle has exceeded the limit + // or the time limit will be exceeded at the next IMU update + if ((dt >= (_ekf->covTimeStepMax - _ekf->dtIMU)) || (_ekf->summedDelAng.length() > _ekf->covDelAngMax)) { + _ekf->CovariancePrediction(dt); + _ekf->summedDelAng.zero(); + _ekf->summedDelVel.zero(); + dt = 0.0f; + } + + _initialized = true; + } + + // Fuse GPS Measurements + if (newDataGps && _gps_initialized) { + // Convert GPS measurements to Pos NE, hgt and Vel NED + _ekf->velNED[0] = _gps.vel_n_m_s; + _ekf->velNED[1] = _gps.vel_e_m_s; + _ekf->velNED[2] = _gps.vel_d_m_s; + _ekf->calcposNED(_ekf->posNED, _ekf->gpsLat, _ekf->gpsLon, _ekf->gpsHgt, _ekf->latRef, _ekf->lonRef, _ekf->hgtRef); + + _ekf->posNE[0] = _ekf->posNED[0]; + _ekf->posNE[1] = _ekf->posNED[1]; + // set fusion flags + _ekf->fuseVelData = true; + _ekf->fusePosData = true; + // recall states stored at time of measurement after adjusting for delays + _ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms)); + _ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms)); + // run the fusion step + _ekf->FuseVelposNED(); + + } else if (_ekf->statesInitialised) { + // Convert GPS measurements to Pos NE, hgt and Vel NED + _ekf->velNED[0] = 0.0f; + _ekf->velNED[1] = 0.0f; + _ekf->velNED[2] = 0.0f; + _ekf->posNED[0] = 0.0f; + _ekf->posNED[1] = 0.0f; + _ekf->posNED[2] = 0.0f; + + _ekf->posNE[0] = _ekf->posNED[0]; + _ekf->posNE[1] = _ekf->posNED[1]; + // set fusion flags + _ekf->fuseVelData = true; + _ekf->fusePosData = true; + // recall states stored at time of measurement after adjusting for delays + _ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms)); + _ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms)); + // run the fusion step + _ekf->FuseVelposNED(); + + } else { + _ekf->fuseVelData = false; + _ekf->fusePosData = false; + } + + if (newHgtData && _ekf->statesInitialised) { + // Could use a blend of GPS and baro alt data if desired + _ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref); + _ekf->fuseHgtData = true; + // recall states stored at time of measurement after adjusting for delays + _ekf->RecallStates(_ekf->statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms)); + // run the fusion step + _ekf->FuseVelposNED(); + + } else { + _ekf->fuseHgtData = false; + } + + // Fuse Magnetometer Measurements + if (newDataMag && _ekf->statesInitialised) { + _ekf->fuseMagData = true; + _ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data + + } else { + _ekf->fuseMagData = false; + } + + if (_ekf->statesInitialised) _ekf->FuseMagnetometer(); + + // Fuse Airspeed Measurements + if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) { + _ekf->fuseVtasData = true; + _ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data + _ekf->FuseAirspeed(); + + } else { + _ekf->fuseVtasData = false; + } + + // Publish results + if (_initialized && (check == OK)) { + + + + // State vector: + // 0-3: quaternions (q0, q1, q2, q3) + // 4-6: Velocity - m/sec (North, East, Down) + // 7-9: Position - m (North, East, Down) + // 10-12: Delta Angle bias - rad (X,Y,Z) + // 13-14: Wind Vector - m/sec (North,East) + // 15-17: Earth Magnetic Field Vector - milligauss (North, East, Down) + // 18-20: Body Magnetic Field Vector - milligauss (X,Y,Z) + + math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]); + math::Matrix<3, 3> R = q.to_dcm(); + math::Vector<3> euler = R.to_euler(); + + for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) + _att.R[i][j] = R(i, j); + + _att.timestamp = last_sensor_timestamp; + _att.q[0] = _ekf->states[0]; + _att.q[1] = _ekf->states[1]; + _att.q[2] = _ekf->states[2]; + _att.q[3] = _ekf->states[3]; + _att.q_valid = true; + _att.R_valid = true; + + _att.timestamp = last_sensor_timestamp; + _att.roll = euler(0); + _att.pitch = euler(1); + _att.yaw = euler(2); + + _att.rollspeed = _ekf->angRate.x - _ekf->states[10]; + _att.pitchspeed = _ekf->angRate.y - _ekf->states[11]; + _att.yawspeed = _ekf->angRate.z - _ekf->states[12]; + // gyro offsets + _att.rate_offsets[0] = _ekf->states[10]; + _att.rate_offsets[1] = _ekf->states[11]; + _att.rate_offsets[2] = _ekf->states[12]; + + /* lazily publish the attitude only once available */ + if (_att_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att); + + } else { + /* advertise and publish */ + _att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att); + } + } + + if (_gps_initialized) { + _local_pos.timestamp = last_sensor_timestamp; + _local_pos.x = _ekf->states[7]; + _local_pos.y = _ekf->states[8]; + // XXX need to announce change of Z reference somehow elegantly + _local_pos.z = _ekf->states[9] - _baro_gps_offset; + + _local_pos.vx = _ekf->states[4]; + _local_pos.vy = _ekf->states[5]; + _local_pos.vz = _ekf->states[6]; + + _local_pos.xy_valid = _gps_initialized; + _local_pos.z_valid = true; + _local_pos.v_xy_valid = _gps_initialized; + _local_pos.v_z_valid = true; + _local_pos.xy_global = true; + + _local_pos.z_global = false; + _local_pos.yaw = _att.yaw; + + /* lazily publish the local position only once available */ + if (_local_pos_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos); + + } else { + /* advertise and publish */ + _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos); + } + + _global_pos.timestamp = _local_pos.timestamp; + + if (_local_pos.xy_global) { + double est_lat, est_lon; + map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon); + _global_pos.lat = est_lat; + _global_pos.lon = est_lon; + _global_pos.time_gps_usec = _gps.time_gps_usec; + _global_pos.eph = _gps.eph_m; + _global_pos.epv = _gps.epv_m; + } + + if (_local_pos.v_xy_valid) { + _global_pos.vel_n = _local_pos.vx; + _global_pos.vel_e = _local_pos.vy; + } else { + _global_pos.vel_n = 0.0f; + _global_pos.vel_e = 0.0f; + } + + /* local pos alt is negative, change sign and add alt offsets */ + _global_pos.alt = _local_pos.ref_alt + _baro_gps_offset + (-_local_pos.z); + + if (_local_pos.v_z_valid) { + _global_pos.vel_d = _local_pos.vz; + } + + _global_pos.yaw = _local_pos.yaw; + + _global_pos.eph = _gps.eph_m; + _global_pos.epv = _gps.epv_m; + + _global_pos.timestamp = _local_pos.timestamp; + + /* lazily publish the global position only once available */ + if (_global_pos_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos); + + } else { + /* advertise and publish */ + _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos); + } + } + + } + + perf_end(_loop_perf); + } + + warnx("exiting.\n"); + + _estimator_task = -1; + _exit(0); +} + +int +FixedwingEstimator::start() +{ + ASSERT(_estimator_task == -1); + + /* start the task */ + _estimator_task = task_spawn_cmd("ekf_att_pos_estimator", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 40, + 6000, + (main_t)&FixedwingEstimator::task_main_trampoline, + nullptr); + + if (_estimator_task < 0) { + warn("task start failed"); + return -errno; + } + + return OK; +} + +void +FixedwingEstimator::print_status() +{ + math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]); + math::Matrix<3, 3> R = q.to_dcm(); + math::Vector<3> euler = R.to_euler(); + + printf("attitude: roll: %8.4f, pitch %8.4f, yaw: %8.4f degrees\n", + (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2))); + + // State vector: + // 0-3: quaternions (q0, q1, q2, q3) + // 4-6: Velocity - m/sec (North, East, Down) + // 7-9: Position - m (North, East, Down) + // 10-12: Delta Angle bias - rad (X,Y,Z) + // 13-14: Wind Vector - m/sec (North,East) + // 15-17: Earth Magnetic Field Vector - gauss (North, East, Down) + // 18-20: Body Magnetic Field Vector - gauss (X,Y,Z) + + printf("dtIMU: %8.6f IMUmsec: %d\n", (double)_ekf->dtIMU, (int)IMUmsec); + printf("ref alt: %8.6f\n", (double)_local_pos.ref_alt); + printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.y, (double)_ekf->dVelIMU.z, (double)_ekf->accel.x, (double)_ekf->accel.y, (double)_ekf->accel.z); + printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.y, (double)_ekf->dAngIMU.z, (double)_ekf->correctedDelAng.x, (double)_ekf->correctedDelAng.y, (double)_ekf->correctedDelAng.z); + printf("states (quat) [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]); + printf("states (vel m/s) [5-7]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]); + printf("states (pos m) [8-10]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]); + printf("states (delta ang) [11-13]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]); + printf("states (wind) [14-15]: %8.4f, %8.4f\n", (double)_ekf->states[13], (double)_ekf->states[14]); + printf("states (earth mag) [16-18]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[15], (double)_ekf->states[16], (double)_ekf->states[17]); + printf("states (body mag) [19-21]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[18], (double)_ekf->states[19], (double)_ekf->states[20]); + printf("states: %s %s %s %s %s %s %s %s %s %s\n", + (_ekf->statesInitialised) ? "INITIALIZED" : "NON_INIT", + (_ekf->onGround) ? "ON_GROUND" : "AIRBORNE", + (_ekf->fuseVelData) ? "FUSE_VEL" : "INH_VEL", + (_ekf->fusePosData) ? "FUSE_POS" : "INH_POS", + (_ekf->fuseHgtData) ? "FUSE_HGT" : "INH_HGT", + (_ekf->fuseMagData) ? "FUSE_MAG" : "INH_MAG", + (_ekf->fuseVtasData) ? "FUSE_VTAS" : "INH_VTAS", + (_ekf->useAirspeed) ? "USE_AIRSPD" : "IGN_AIRSPD", + (_ekf->useCompass) ? "USE_COMPASS" : "IGN_COMPASS", + (_ekf->staticMode) ? "STATIC_MODE" : "DYNAMIC_MODE"); +} + +int FixedwingEstimator::trip_nan() { + + int ret = 0; + + // If system is not armed, inject a NaN value into the filter + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + + struct actuator_armed_s armed; + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); + + if (armed.armed) { + warnx("ACTUATORS ARMED! NOT TRIPPING SYSTEM"); + ret = 1; + } else { + + float nan_val = 0.0f / 0.0f; + + warnx("system not armed, tripping state vector with NaN values"); + _ekf->states[5] = nan_val; + usleep(100000); + + warnx("tripping covariance #1 with NaN values"); + _ekf->KH[2][2] = nan_val; // intermediate result used for covariance updates + usleep(100000); + + warnx("tripping covariance #2 with NaN values"); + _ekf->KHP[5][5] = nan_val; // intermediate result used for covariance updates + usleep(100000); + + warnx("tripping covariance #3 with NaN values"); + _ekf->P[3][3] = nan_val; // covariance matrix + usleep(100000); + + warnx("tripping Kalman gains with NaN values"); + _ekf->Kfusion[0] = nan_val; // Kalman gains + usleep(100000); + + warnx("tripping stored states[0] with NaN values"); + _ekf->storedStates[0][0] = nan_val; + usleep(100000); + + warnx("\nDONE - FILTER STATE:"); + print_status(); + } + + close(armed_sub); + return ret; +} + +int ekf_att_pos_estimator_main(int argc, char *argv[]) +{ + if (argc < 1) + errx(1, "usage: ekf_att_pos_estimator {start|stop|status}"); + + if (!strcmp(argv[1], "start")) { + + if (estimator::g_estimator != nullptr) + errx(1, "already running"); + + estimator::g_estimator = new FixedwingEstimator; + + if (estimator::g_estimator == nullptr) + errx(1, "alloc failed"); + + if (OK != estimator::g_estimator->start()) { + delete estimator::g_estimator; + estimator::g_estimator = nullptr; + err(1, "start failed"); + } + + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + if (estimator::g_estimator == nullptr) + errx(1, "not running"); + + delete estimator::g_estimator; + estimator::g_estimator = nullptr; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (estimator::g_estimator) { + warnx("running"); + + estimator::g_estimator->print_status(); + + exit(0); + + } else { + errx(1, "not running"); + } + } + + if (!strcmp(argv[1], "trip")) { + if (estimator::g_estimator) { + int ret = estimator::g_estimator->trip_nan(); + + exit(ret); + + } else { + errx(1, "not running"); + } + } + + warnx("unrecognized command"); + return 1; +} diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c new file mode 100644 index 0000000000..1d9ae46236 --- /dev/null +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c @@ -0,0 +1,271 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * + * 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 ekf_att_pos_estimator_params.c + * + * Parameters defined by the attitude and position estimator task + * + * @author Lorenz Meier + */ + +#include + +#include + +/* + * Estimator parameters, accessible via MAVLink + * + */ + +/** + * Velocity estimate delay + * + * The delay in milliseconds of the velocity estimate from GPS. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_VEL_DELAY_MS, 230); + +/** + * Position estimate delay + * + * The delay in milliseconds of the position estimate from GPS. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_POS_DELAY_MS, 210); + +/** + * Height estimate delay + * + * The delay in milliseconds of the height estimate from the barometer. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_HGT_DELAY_MS, 350); + +/** + * Mag estimate delay + * + * The delay in milliseconds of the magnetic field estimate from + * the magnetometer. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_MAG_DELAY_MS, 30); + +/** + * True airspeeed estimate delay + * + * The delay in milliseconds of the airspeed estimate. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210); + +/** + * GPS vs. barometric altitude update weight + * + * RE-CHECK this. + * + * @min 0.0 + * @max 1.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f); + +/** + * Airspeed measurement noise. + * + * Increasing this value will make the filter trust this sensor + * less and trust other sensors more. + * + * @min 0.5 + * @max 5.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_EAS_NOISE, 1.4f); + +/** + * Velocity measurement noise in north-east (horizontal) direction. + * + * Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 + * + * @min 0.05 + * @max 5.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f); + +/** + * Velocity noise in down (vertical) direction + * + * Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7 + * + * @min 0.05 + * @max 5.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.5f); + +/** + * Position noise in north-east (horizontal) direction + * + * Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 + * + * @min 0.1 + * @max 10.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f); + +/** + * Position noise in down (vertical) direction + * + * Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0 + * + * @min 0.1 + * @max 10.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f); + +/** + * Magnetometer measurement noise + * + * Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 + * + * @min 0.1 + * @max 10.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_MAG_NOISE, 0.05f); + +/** + * Gyro process noise + * + * Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. + * This noise controls how much the filter trusts the gyro measurements. + * Increasing it makes the filter trust the gyro less and other sensors more. + * + * @min 0.001 + * @max 0.05 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_GYRO_PNOISE, 0.015f); + +/** + * Accelerometer process noise + * + * Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. + * Increasing this value makes the filter trust the accelerometer less + * and other sensors more. + * + * @min 0.05 + * @max 1.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f); + +/** + * Gyro bias estimate process noise + * + * Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. + * Increasing this value will make the gyro bias converge faster but noisier. + * + * @min 0.0000001 + * @max 0.00001 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f); + +/** + * Accelerometer bias estimate process noise + * + * Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f. + * Increasing this value makes the bias estimation faster and noisier. + * + * @min 0.0001 + * @max 0.001 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0001f); + +/** + * Magnetometer earth frame offsets process noise + * + * Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. + * Increasing this value makes the magnetometer earth bias estimate converge + * faster but also noisier. + * + * @min 0.0001 + * @max 0.01 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f); + +/** + * Magnetometer body frame offsets process noise + * + * Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. + * Increasing this value makes the magnetometer body bias estimate converge faster + * but also noisier. + * + * @min 0.0001 + * @max 0.01 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f); + +/** + * Threshold for filter initialization. + * + * If the standard deviation of the GPS position estimate is below this threshold + * in meters, the filter will initialize. + * + * @min 0.3 + * @max 10.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_POSDEV_INIT, 5.0f); diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp new file mode 100644 index 0000000000..23ecd89ac3 --- /dev/null +++ b/src/modules/ekf_att_pos_estimator/estimator.cpp @@ -0,0 +1,2609 @@ +#include "estimator.h" +#include +#include + +// Define EKF_DEBUG here to enable the debug print calls +// if the macro is not set, these will be completely +// optimized out by the compiler. +#define EKF_DEBUG + +#ifdef EKF_DEBUG +#include + +static void +ekf_debug_print(const char *fmt, va_list args) +{ + fprintf(stderr, "%s: ", "[ekf]"); + vfprintf(stderr, fmt, args); + + fprintf(stderr, "\n"); +} + +static void +ekf_debug(const char *fmt, ...) +{ + va_list args; + + va_start(args, fmt); + ekf_debug_print(fmt, args); +} + +#else + +static void ekf_debug(const char *fmt, ...) { while(0){} } +#endif + +float Vector3f::length(void) const +{ + return sqrt(x*x + y*y + z*z); +} + +void Vector3f::zero(void) +{ + x = 0.0f; + y = 0.0f; + z = 0.0f; +} + +Mat3f::Mat3f() { + identity(); +} + +void Mat3f::identity() { + x.x = 1.0f; + x.y = 0.0f; + x.z = 0.0f; + + y.x = 0.0f; + y.y = 1.0f; + y.z = 0.0f; + + z.x = 0.0f; + z.y = 0.0f; + z.z = 1.0f; +} + +Mat3f Mat3f::transpose(void) const +{ + Mat3f ret = *this; + swap_var(ret.x.y, ret.y.x); + swap_var(ret.x.z, ret.z.x); + swap_var(ret.y.z, ret.z.y); + return ret; +} + +// overload + operator to provide a vector addition +Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2) +{ + Vector3f vecOut; + vecOut.x = vecIn1.x + vecIn2.x; + vecOut.y = vecIn1.y + vecIn2.y; + vecOut.z = vecIn1.z + vecIn2.z; + return vecOut; +} + +// overload - operator to provide a vector subtraction +Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2) +{ + Vector3f vecOut; + vecOut.x = vecIn1.x - vecIn2.x; + vecOut.y = vecIn1.y - vecIn2.y; + vecOut.z = vecIn1.z - vecIn2.z; + return vecOut; +} + +// overload * operator to provide a matrix vector product +Vector3f operator*( Mat3f matIn, Vector3f vecIn) +{ + Vector3f vecOut; + vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z; + vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z; + vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z; + return vecOut; +} + +// overload % operator to provide a vector cross product +Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2) +{ + Vector3f vecOut; + vecOut.x = vecIn1.y*vecIn2.z - vecIn1.z*vecIn2.y; + vecOut.y = vecIn1.z*vecIn2.x - vecIn1.x*vecIn2.z; + vecOut.z = vecIn1.x*vecIn2.y - vecIn1.y*vecIn2.x; + return vecOut; +} + +// overload * operator to provide a vector scaler product +Vector3f operator*(Vector3f vecIn1, float sclIn1) +{ + Vector3f vecOut; + vecOut.x = vecIn1.x * sclIn1; + vecOut.y = vecIn1.y * sclIn1; + vecOut.z = vecIn1.z * sclIn1; + return vecOut; +} + +// overload * operator to provide a vector scaler product +Vector3f operator*(float sclIn1, Vector3f vecIn1) +{ + Vector3f vecOut; + vecOut.x = vecIn1.x * sclIn1; + vecOut.y = vecIn1.y * sclIn1; + vecOut.z = vecIn1.z * sclIn1; + return vecOut; +} + +void swap_var(float &d1, float &d2) +{ + float tmp = d1; + d1 = d2; + d2 = tmp; +} + +AttPosEKF::AttPosEKF() + + /* NOTE: DO NOT initialize class members here. Use ZeroVariables() + * instead to allow clean in-air re-initialization. + */ +{ + + ZeroVariables(); + InitialiseParameters(); +} + +AttPosEKF::~AttPosEKF() +{ +} + +void AttPosEKF::UpdateStrapdownEquationsNED() +{ + Vector3f delVelNav; + float q00; + float q11; + float q22; + float q33; + float q01; + float q02; + float q03; + float q12; + float q13; + float q23; + float rotationMag; + float qUpdated[4]; + float quatMag; + float deltaQuat[4]; + const Vector3f gravityNED = {0.0,0.0,GRAVITY_MSS}; + +// Remove sensor bias errors + correctedDelAng.x = dAngIMU.x - states[10]; + correctedDelAng.y = dAngIMU.y - states[11]; + correctedDelAng.z = dAngIMU.z - states[12]; + dVelIMU.x = dVelIMU.x; + dVelIMU.y = dVelIMU.y; + dVelIMU.z = dVelIMU.z - states[13]; + +// Save current measurements + Vector3f prevDelAng = correctedDelAng; + +// Apply corrections for earths rotation rate and coning errors +// * and + operators have been overloaded + correctedDelAng = correctedDelAng - Tnb*earthRateNED*dtIMU + 8.333333333333333e-2f*(prevDelAng % correctedDelAng); + +// Convert the rotation vector to its equivalent quaternion + rotationMag = correctedDelAng.length(); + if (rotationMag < 1e-12f) + { + deltaQuat[0] = 1.0; + deltaQuat[1] = 0.0; + deltaQuat[2] = 0.0; + deltaQuat[3] = 0.0; + } + else + { + deltaQuat[0] = cosf(0.5f*rotationMag); + float rotScaler = (sinf(0.5f*rotationMag))/rotationMag; + deltaQuat[1] = correctedDelAng.x*rotScaler; + deltaQuat[2] = correctedDelAng.y*rotScaler; + deltaQuat[3] = correctedDelAng.z*rotScaler; + } + +// Update the quaternions by rotating from the previous attitude through +// the delta angle rotation quaternion + qUpdated[0] = states[0]*deltaQuat[0] - states[1]*deltaQuat[1] - states[2]*deltaQuat[2] - states[3]*deltaQuat[3]; + qUpdated[1] = states[0]*deltaQuat[1] + states[1]*deltaQuat[0] + states[2]*deltaQuat[3] - states[3]*deltaQuat[2]; + qUpdated[2] = states[0]*deltaQuat[2] + states[2]*deltaQuat[0] + states[3]*deltaQuat[1] - states[1]*deltaQuat[3]; + qUpdated[3] = states[0]*deltaQuat[3] + states[3]*deltaQuat[0] + states[1]*deltaQuat[2] - states[2]*deltaQuat[1]; + +// Normalise the quaternions and update the quaternion states + quatMag = sqrtf(sq(qUpdated[0]) + sq(qUpdated[1]) + sq(qUpdated[2]) + sq(qUpdated[3])); + if (quatMag > 1e-16f) + { + float quatMagInv = 1.0f/quatMag; + states[0] = quatMagInv*qUpdated[0]; + states[1] = quatMagInv*qUpdated[1]; + states[2] = quatMagInv*qUpdated[2]; + states[3] = quatMagInv*qUpdated[3]; + } + +// Calculate the body to nav cosine matrix + q00 = sq(states[0]); + q11 = sq(states[1]); + q22 = sq(states[2]); + q33 = sq(states[3]); + q01 = states[0]*states[1]; + q02 = states[0]*states[2]; + q03 = states[0]*states[3]; + q12 = states[1]*states[2]; + q13 = states[1]*states[3]; + q23 = states[2]*states[3]; + + Tbn.x.x = q00 + q11 - q22 - q33; + Tbn.y.y = q00 - q11 + q22 - q33; + Tbn.z.z = q00 - q11 - q22 + q33; + Tbn.x.y = 2*(q12 - q03); + Tbn.x.z = 2*(q13 + q02); + Tbn.y.x = 2*(q12 + q03); + Tbn.y.z = 2*(q23 - q01); + Tbn.z.x = 2*(q13 - q02); + Tbn.z.y = 2*(q23 + q01); + + Tnb = Tbn.transpose(); + +// transform body delta velocities to delta velocities in the nav frame +// * and + operators have been overloaded + //delVelNav = Tbn*dVelIMU + gravityNED*dtIMU; + delVelNav.x = Tbn.x.x*dVelIMU.x + Tbn.x.y*dVelIMU.y + Tbn.x.z*dVelIMU.z + gravityNED.x*dtIMU; + delVelNav.y = Tbn.y.x*dVelIMU.x + Tbn.y.y*dVelIMU.y + Tbn.y.z*dVelIMU.z + gravityNED.y*dtIMU; + delVelNav.z = Tbn.z.x*dVelIMU.x + Tbn.z.y*dVelIMU.y + Tbn.z.z*dVelIMU.z + gravityNED.z*dtIMU; + +// calculate the magnitude of the nav acceleration (required for GPS +// variance estimation) + accNavMag = delVelNav.length()/dtIMU; + +// If calculating position save previous velocity + float lastVelocity[3]; + lastVelocity[0] = states[4]; + lastVelocity[1] = states[5]; + lastVelocity[2] = states[6]; + +// Sum delta velocities to get velocity + states[4] = states[4] + delVelNav.x; + states[5] = states[5] + delVelNav.y; + states[6] = states[6] + delVelNav.z; + +// If calculating postions, do a trapezoidal integration for position + states[7] = states[7] + 0.5f*(states[4] + lastVelocity[0])*dtIMU; + states[8] = states[8] + 0.5f*(states[5] + lastVelocity[1])*dtIMU; + states[9] = states[9] + 0.5f*(states[6] + lastVelocity[2])*dtIMU; + + // Constrain states (to protect against filter divergence) + ConstrainStates(); +} + +void AttPosEKF::CovariancePrediction(float dt) +{ + // scalars + float daxCov; + float dayCov; + float dazCov; + float dvxCov; + float dvyCov; + float dvzCov; + float dvx; + float dvy; + float dvz; + float dax; + float day; + float daz; + float q0; + float q1; + float q2; + float q3; + float dax_b; + float day_b; + float daz_b; + float dvz_b; + + // arrays + float processNoise[n_states]; + float SF[15]; + float SG[8]; + float SQ[11]; + float SPP[8] = {0}; + float nextP[n_states][n_states]; + + // calculate covariance prediction process noise + for (uint8_t i= 0; i<=9; i++) processNoise[i] = 1.0e-9f; + for (uint8_t i=10; i<=12; i++) processNoise[i] = dt * dAngBiasSigma; + // scale gyro bias noise when on ground to allow for faster bias estimation + for (uint8_t i=10; i<=12; i++) processNoise[i] = dt * dAngBiasSigma; + processNoise[13] = dVelBiasSigma; + for (uint8_t i=14; i<=15; i++) processNoise[i] = dt * windVelSigma; + for (uint8_t i=16; i<=18; i++) processNoise[i] = dt * magEarthSigma; + for (uint8_t i=19; i<=21; i++) processNoise[i] = dt * magBodySigma; + processNoise[22] = dt * sqrtf(sq(states[4]) + sq(states[5])) * gndHgtSigma; + + // square all sigmas + for (unsigned i = 0; i < n_states; i++) processNoise[i] = sq(processNoise[i]); + + // set variables used to calculate covariance growth + dvx = summedDelVel.x; + dvy = summedDelVel.y; + dvz = summedDelVel.z; + dax = summedDelAng.x; + day = summedDelAng.y; + daz = summedDelAng.z; + q0 = states[0]; + q1 = states[1]; + q2 = states[2]; + q3 = states[3]; + dax_b = states[10]; + day_b = states[11]; + daz_b = states[12]; + dvz_b = states[13]; + gyroProcessNoise = ConstrainFloat(gyroProcessNoise, 1e-3f, 5e-2f); + daxCov = sq(dt*gyroProcessNoise); + dayCov = sq(dt*gyroProcessNoise); + dazCov = sq(dt*gyroProcessNoise); + if (onGround) dazCov = dazCov * sq(yawVarScale); + accelProcessNoise = ConstrainFloat(accelProcessNoise, 5e-2, 1.0f); + dvxCov = sq(dt*accelProcessNoise); + dvyCov = sq(dt*accelProcessNoise); + dvzCov = sq(dt*accelProcessNoise); + + // Predicted covariance calculation + SF[0] = dvz - dvz_b; + SF[1] = 2*q3*SF[0] + 2*dvx*q1 + 2*dvy*q2; + SF[2] = 2*dvx*q3 - 2*q1*SF[0] + 2*dvy*q0; + SF[3] = 2*q2*SF[0] + 2*dvx*q0 - 2*dvy*q3; + SF[4] = day/2 - day_b/2; + SF[5] = daz/2 - daz_b/2; + SF[6] = dax/2 - dax_b/2; + SF[7] = dax_b/2 - dax/2; + SF[8] = daz_b/2 - daz/2; + SF[9] = day_b/2 - day/2; + SF[10] = 2*q0*SF[0]; + SF[11] = q1/2; + SF[12] = q2/2; + SF[13] = q3/2; + SF[14] = 2*dvy*q1; + + SG[0] = q0/2; + SG[1] = sq(q3); + SG[2] = sq(q2); + SG[3] = sq(q1); + SG[4] = sq(q0); + SG[5] = 2*q2*q3; + SG[6] = 2*q1*q3; + SG[7] = 2*q1*q2; + + SQ[0] = dvzCov*(SG[5] - 2*q0*q1)*(SG[1] - SG[2] - SG[3] + SG[4]) - dvyCov*(SG[5] + 2*q0*q1)*(SG[1] - SG[2] + SG[3] - SG[4]) + dvxCov*(SG[6] - 2*q0*q2)*(SG[7] + 2*q0*q3); + SQ[1] = dvzCov*(SG[6] + 2*q0*q2)*(SG[1] - SG[2] - SG[3] + SG[4]) - dvxCov*(SG[6] - 2*q0*q2)*(SG[1] + SG[2] - SG[3] - SG[4]) + dvyCov*(SG[5] + 2*q0*q1)*(SG[7] - 2*q0*q3); + SQ[2] = dvzCov*(SG[5] - 2*q0*q1)*(SG[6] + 2*q0*q2) - dvyCov*(SG[7] - 2*q0*q3)*(SG[1] - SG[2] + SG[3] - SG[4]) - dvxCov*(SG[7] + 2*q0*q3)*(SG[1] + SG[2] - SG[3] - SG[4]); + SQ[3] = (dayCov*q1*SG[0])/2 - (dazCov*q1*SG[0])/2 - (daxCov*q2*q3)/4; + SQ[4] = (dazCov*q2*SG[0])/2 - (daxCov*q2*SG[0])/2 - (dayCov*q1*q3)/4; + SQ[5] = (daxCov*q3*SG[0])/2 - (dayCov*q3*SG[0])/2 - (dazCov*q1*q2)/4; + SQ[6] = (daxCov*q1*q2)/4 - (dazCov*q3*SG[0])/2 - (dayCov*q1*q2)/4; + SQ[7] = (dazCov*q1*q3)/4 - (daxCov*q1*q3)/4 - (dayCov*q2*SG[0])/2; + SQ[8] = (dayCov*q2*q3)/4 - (daxCov*q1*SG[0])/2 - (dazCov*q2*q3)/4; + SQ[9] = sq(SG[0]); + SQ[10] = sq(q1); + + SPP[0] = SF[10] + SF[14] - 2*dvx*q2; + SPP[1] = 2*q2*SF[0] + 2*dvx*q0 - 2*dvy*q3; + SPP[2] = 2*dvx*q3 - 2*q1*SF[0] + 2*dvy*q0; + SPP[3] = 2*q0*q1 - 2*q2*q3; + SPP[4] = 2*q0*q2 + 2*q1*q3; + SPP[5] = sq(q0) - sq(q1) - sq(q2) + sq(q3); + SPP[6] = SF[13]; + SPP[7] = SF[12]; + + nextP[0][0] = P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6] + (daxCov*SQ[10])/4 + SF[7]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[9]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) + SF[8]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SF[11]*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]) + SPP[7]*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]) + SPP[6]*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]) + (dayCov*sq(q2))/4 + (dazCov*sq(q3))/4; + nextP[0][1] = P[0][1] + SQ[8] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6] + SF[6]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[5]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) + SF[9]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SPP[6]*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]) - SPP[7]*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]) - (q0*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]))/2; + nextP[0][2] = P[0][2] + SQ[7] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6] + SF[4]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[8]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[6]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SF[11]*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]) - SPP[6]*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]) - (q0*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]))/2; + nextP[0][3] = P[0][3] + SQ[6] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6] + SF[5]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[4]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[7]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) - SF[11]*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]) + SPP[7]*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]) - (q0*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]))/2; + nextP[0][4] = P[0][4] + P[1][4]*SF[7] + P[2][4]*SF[9] + P[3][4]*SF[8] + P[10][4]*SF[11] + P[11][4]*SPP[7] + P[12][4]*SPP[6] + SF[3]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[1]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SPP[0]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) - SPP[2]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) - SPP[4]*(P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6]); + nextP[0][5] = P[0][5] + P[1][5]*SF[7] + P[2][5]*SF[9] + P[3][5]*SF[8] + P[10][5]*SF[11] + P[11][5]*SPP[7] + P[12][5]*SPP[6] + SF[2]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[1]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) + SF[3]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) - SPP[0]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SPP[3]*(P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6]); + nextP[0][6] = P[0][6] + P[1][6]*SF[7] + P[2][6]*SF[9] + P[3][6]*SF[8] + P[10][6]*SF[11] + P[11][6]*SPP[7] + P[12][6]*SPP[6] + SF[2]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[1]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SPP[0]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) - SPP[1]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6]); + nextP[0][7] = P[0][7] + P[1][7]*SF[7] + P[2][7]*SF[9] + P[3][7]*SF[8] + P[10][7]*SF[11] + P[11][7]*SPP[7] + P[12][7]*SPP[6] + dt*(P[0][4] + P[1][4]*SF[7] + P[2][4]*SF[9] + P[3][4]*SF[8] + P[10][4]*SF[11] + P[11][4]*SPP[7] + P[12][4]*SPP[6]); + nextP[0][8] = P[0][8] + P[1][8]*SF[7] + P[2][8]*SF[9] + P[3][8]*SF[8] + P[10][8]*SF[11] + P[11][8]*SPP[7] + P[12][8]*SPP[6] + dt*(P[0][5] + P[1][5]*SF[7] + P[2][5]*SF[9] + P[3][5]*SF[8] + P[10][5]*SF[11] + P[11][5]*SPP[7] + P[12][5]*SPP[6]); + nextP[0][9] = P[0][9] + P[1][9]*SF[7] + P[2][9]*SF[9] + P[3][9]*SF[8] + P[10][9]*SF[11] + P[11][9]*SPP[7] + P[12][9]*SPP[6] + dt*(P[0][6] + P[1][6]*SF[7] + P[2][6]*SF[9] + P[3][6]*SF[8] + P[10][6]*SF[11] + P[11][6]*SPP[7] + P[12][6]*SPP[6]); + nextP[0][10] = P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]; + nextP[0][11] = P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]; + nextP[0][12] = P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]; + nextP[0][13] = P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6]; + nextP[0][14] = P[0][14] + P[1][14]*SF[7] + P[2][14]*SF[9] + P[3][14]*SF[8] + P[10][14]*SF[11] + P[11][14]*SPP[7] + P[12][14]*SPP[6]; + nextP[0][15] = P[0][15] + P[1][15]*SF[7] + P[2][15]*SF[9] + P[3][15]*SF[8] + P[10][15]*SF[11] + P[11][15]*SPP[7] + P[12][15]*SPP[6]; + nextP[0][16] = P[0][16] + P[1][16]*SF[7] + P[2][16]*SF[9] + P[3][16]*SF[8] + P[10][16]*SF[11] + P[11][16]*SPP[7] + P[12][16]*SPP[6]; + nextP[0][17] = P[0][17] + P[1][17]*SF[7] + P[2][17]*SF[9] + P[3][17]*SF[8] + P[10][17]*SF[11] + P[11][17]*SPP[7] + P[12][17]*SPP[6]; + nextP[0][18] = P[0][18] + P[1][18]*SF[7] + P[2][18]*SF[9] + P[3][18]*SF[8] + P[10][18]*SF[11] + P[11][18]*SPP[7] + P[12][18]*SPP[6]; + nextP[0][19] = P[0][19] + P[1][19]*SF[7] + P[2][19]*SF[9] + P[3][19]*SF[8] + P[10][19]*SF[11] + P[11][19]*SPP[7] + P[12][19]*SPP[6]; + nextP[0][20] = P[0][20] + P[1][20]*SF[7] + P[2][20]*SF[9] + P[3][20]*SF[8] + P[10][20]*SF[11] + P[11][20]*SPP[7] + P[12][20]*SPP[6]; + nextP[0][21] = P[0][21] + P[1][21]*SF[7] + P[2][21]*SF[9] + P[3][21]*SF[8] + P[10][21]*SF[11] + P[11][21]*SPP[7] + P[12][21]*SPP[6]; + nextP[0][22] = P[0][22] + P[1][22]*SF[7] + P[2][22]*SF[9] + P[3][22]*SF[8] + P[10][22]*SF[11] + P[11][22]*SPP[7] + P[12][22]*SPP[6]; + nextP[1][0] = P[1][0] + SQ[8] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2 + SF[7]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[9]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) + SF[8]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SF[11]*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2) + SPP[7]*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2) + SPP[6]*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2); + nextP[1][1] = P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] + daxCov*SQ[9] - (P[10][1]*q0)/2 + SF[6]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[5]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) + SF[9]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SPP[6]*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2) - SPP[7]*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2) + (dayCov*sq(q3))/4 + (dazCov*sq(q2))/4 - (q0*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2))/2; + nextP[1][2] = P[1][2] + SQ[5] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2 + SF[4]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[8]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[6]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SF[11]*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2) - SPP[6]*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2) - (q0*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2))/2; + nextP[1][3] = P[1][3] + SQ[4] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2 + SF[5]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[4]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[7]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) - SF[11]*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2) + SPP[7]*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2) - (q0*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2))/2; + nextP[1][4] = P[1][4] + P[0][4]*SF[6] + P[2][4]*SF[5] + P[3][4]*SF[9] + P[11][4]*SPP[6] - P[12][4]*SPP[7] - (P[10][4]*q0)/2 + SF[3]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[1]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SPP[0]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) - SPP[2]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) - SPP[4]*(P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2); + nextP[1][5] = P[1][5] + P[0][5]*SF[6] + P[2][5]*SF[5] + P[3][5]*SF[9] + P[11][5]*SPP[6] - P[12][5]*SPP[7] - (P[10][5]*q0)/2 + SF[2]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[1]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) + SF[3]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) - SPP[0]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SPP[3]*(P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2); + nextP[1][6] = P[1][6] + P[0][6]*SF[6] + P[2][6]*SF[5] + P[3][6]*SF[9] + P[11][6]*SPP[6] - P[12][6]*SPP[7] - (P[10][6]*q0)/2 + SF[2]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[1]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SPP[0]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) - SPP[1]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2); + nextP[1][7] = P[1][7] + P[0][7]*SF[6] + P[2][7]*SF[5] + P[3][7]*SF[9] + P[11][7]*SPP[6] - P[12][7]*SPP[7] - (P[10][7]*q0)/2 + dt*(P[1][4] + P[0][4]*SF[6] + P[2][4]*SF[5] + P[3][4]*SF[9] + P[11][4]*SPP[6] - P[12][4]*SPP[7] - (P[10][4]*q0)/2); + nextP[1][8] = P[1][8] + P[0][8]*SF[6] + P[2][8]*SF[5] + P[3][8]*SF[9] + P[11][8]*SPP[6] - P[12][8]*SPP[7] - (P[10][8]*q0)/2 + dt*(P[1][5] + P[0][5]*SF[6] + P[2][5]*SF[5] + P[3][5]*SF[9] + P[11][5]*SPP[6] - P[12][5]*SPP[7] - (P[10][5]*q0)/2); + nextP[1][9] = P[1][9] + P[0][9]*SF[6] + P[2][9]*SF[5] + P[3][9]*SF[9] + P[11][9]*SPP[6] - P[12][9]*SPP[7] - (P[10][9]*q0)/2 + dt*(P[1][6] + P[0][6]*SF[6] + P[2][6]*SF[5] + P[3][6]*SF[9] + P[11][6]*SPP[6] - P[12][6]*SPP[7] - (P[10][6]*q0)/2); + nextP[1][10] = P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2; + nextP[1][11] = P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2; + nextP[1][12] = P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2; + nextP[1][13] = P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2; + nextP[1][14] = P[1][14] + P[0][14]*SF[6] + P[2][14]*SF[5] + P[3][14]*SF[9] + P[11][14]*SPP[6] - P[12][14]*SPP[7] - (P[10][14]*q0)/2; + nextP[1][15] = P[1][15] + P[0][15]*SF[6] + P[2][15]*SF[5] + P[3][15]*SF[9] + P[11][15]*SPP[6] - P[12][15]*SPP[7] - (P[10][15]*q0)/2; + nextP[1][16] = P[1][16] + P[0][16]*SF[6] + P[2][16]*SF[5] + P[3][16]*SF[9] + P[11][16]*SPP[6] - P[12][16]*SPP[7] - (P[10][16]*q0)/2; + nextP[1][17] = P[1][17] + P[0][17]*SF[6] + P[2][17]*SF[5] + P[3][17]*SF[9] + P[11][17]*SPP[6] - P[12][17]*SPP[7] - (P[10][17]*q0)/2; + nextP[1][18] = P[1][18] + P[0][18]*SF[6] + P[2][18]*SF[5] + P[3][18]*SF[9] + P[11][18]*SPP[6] - P[12][18]*SPP[7] - (P[10][18]*q0)/2; + nextP[1][19] = P[1][19] + P[0][19]*SF[6] + P[2][19]*SF[5] + P[3][19]*SF[9] + P[11][19]*SPP[6] - P[12][19]*SPP[7] - (P[10][19]*q0)/2; + nextP[1][20] = P[1][20] + P[0][20]*SF[6] + P[2][20]*SF[5] + P[3][20]*SF[9] + P[11][20]*SPP[6] - P[12][20]*SPP[7] - (P[10][20]*q0)/2; + nextP[1][21] = P[1][21] + P[0][21]*SF[6] + P[2][21]*SF[5] + P[3][21]*SF[9] + P[11][21]*SPP[6] - P[12][21]*SPP[7] - (P[10][21]*q0)/2; + nextP[1][22] = P[1][22] + P[0][22]*SF[6] + P[2][22]*SF[5] + P[3][22]*SF[9] + P[11][22]*SPP[6] - P[12][22]*SPP[7] - (P[10][22]*q0)/2; + nextP[2][0] = P[2][0] + SQ[7] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2 + SF[7]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[9]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) + SF[8]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SF[11]*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2) + SPP[7]*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2) + SPP[6]*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2); + nextP[2][1] = P[2][1] + SQ[5] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2 + SF[6]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[5]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) + SF[9]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SPP[6]*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2) - SPP[7]*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2) - (q0*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2))/2; + nextP[2][2] = P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] + dayCov*SQ[9] + (dazCov*SQ[10])/4 - (P[11][2]*q0)/2 + SF[4]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[8]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[6]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SF[11]*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2) - SPP[6]*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2) + (daxCov*sq(q3))/4 - (q0*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2))/2; + nextP[2][3] = P[2][3] + SQ[3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2 + SF[5]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[4]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[7]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) - SF[11]*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2) + SPP[7]*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2) - (q0*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2))/2; + nextP[2][4] = P[2][4] + P[0][4]*SF[4] + P[1][4]*SF[8] + P[3][4]*SF[6] + P[12][4]*SF[11] - P[10][4]*SPP[6] - (P[11][4]*q0)/2 + SF[3]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[1]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SPP[0]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) - SPP[2]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) - SPP[4]*(P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2); + nextP[2][5] = P[2][5] + P[0][5]*SF[4] + P[1][5]*SF[8] + P[3][5]*SF[6] + P[12][5]*SF[11] - P[10][5]*SPP[6] - (P[11][5]*q0)/2 + SF[2]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[1]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) + SF[3]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) - SPP[0]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SPP[3]*(P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2); + nextP[2][6] = P[2][6] + P[0][6]*SF[4] + P[1][6]*SF[8] + P[3][6]*SF[6] + P[12][6]*SF[11] - P[10][6]*SPP[6] - (P[11][6]*q0)/2 + SF[2]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[1]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SPP[0]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) - SPP[1]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2); + nextP[2][7] = P[2][7] + P[0][7]*SF[4] + P[1][7]*SF[8] + P[3][7]*SF[6] + P[12][7]*SF[11] - P[10][7]*SPP[6] - (P[11][7]*q0)/2 + dt*(P[2][4] + P[0][4]*SF[4] + P[1][4]*SF[8] + P[3][4]*SF[6] + P[12][4]*SF[11] - P[10][4]*SPP[6] - (P[11][4]*q0)/2); + nextP[2][8] = P[2][8] + P[0][8]*SF[4] + P[1][8]*SF[8] + P[3][8]*SF[6] + P[12][8]*SF[11] - P[10][8]*SPP[6] - (P[11][8]*q0)/2 + dt*(P[2][5] + P[0][5]*SF[4] + P[1][5]*SF[8] + P[3][5]*SF[6] + P[12][5]*SF[11] - P[10][5]*SPP[6] - (P[11][5]*q0)/2); + nextP[2][9] = P[2][9] + P[0][9]*SF[4] + P[1][9]*SF[8] + P[3][9]*SF[6] + P[12][9]*SF[11] - P[10][9]*SPP[6] - (P[11][9]*q0)/2 + dt*(P[2][6] + P[0][6]*SF[4] + P[1][6]*SF[8] + P[3][6]*SF[6] + P[12][6]*SF[11] - P[10][6]*SPP[6] - (P[11][6]*q0)/2); + nextP[2][10] = P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2; + nextP[2][11] = P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2; + nextP[2][12] = P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2; + nextP[2][13] = P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2; + nextP[2][14] = P[2][14] + P[0][14]*SF[4] + P[1][14]*SF[8] + P[3][14]*SF[6] + P[12][14]*SF[11] - P[10][14]*SPP[6] - (P[11][14]*q0)/2; + nextP[2][15] = P[2][15] + P[0][15]*SF[4] + P[1][15]*SF[8] + P[3][15]*SF[6] + P[12][15]*SF[11] - P[10][15]*SPP[6] - (P[11][15]*q0)/2; + nextP[2][16] = P[2][16] + P[0][16]*SF[4] + P[1][16]*SF[8] + P[3][16]*SF[6] + P[12][16]*SF[11] - P[10][16]*SPP[6] - (P[11][16]*q0)/2; + nextP[2][17] = P[2][17] + P[0][17]*SF[4] + P[1][17]*SF[8] + P[3][17]*SF[6] + P[12][17]*SF[11] - P[10][17]*SPP[6] - (P[11][17]*q0)/2; + nextP[2][18] = P[2][18] + P[0][18]*SF[4] + P[1][18]*SF[8] + P[3][18]*SF[6] + P[12][18]*SF[11] - P[10][18]*SPP[6] - (P[11][18]*q0)/2; + nextP[2][19] = P[2][19] + P[0][19]*SF[4] + P[1][19]*SF[8] + P[3][19]*SF[6] + P[12][19]*SF[11] - P[10][19]*SPP[6] - (P[11][19]*q0)/2; + nextP[2][20] = P[2][20] + P[0][20]*SF[4] + P[1][20]*SF[8] + P[3][20]*SF[6] + P[12][20]*SF[11] - P[10][20]*SPP[6] - (P[11][20]*q0)/2; + nextP[2][21] = P[2][21] + P[0][21]*SF[4] + P[1][21]*SF[8] + P[3][21]*SF[6] + P[12][21]*SF[11] - P[10][21]*SPP[6] - (P[11][21]*q0)/2; + nextP[2][22] = P[2][22] + P[0][22]*SF[4] + P[1][22]*SF[8] + P[3][22]*SF[6] + P[12][22]*SF[11] - P[10][22]*SPP[6] - (P[11][22]*q0)/2; + nextP[3][0] = P[3][0] + SQ[6] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2 + SF[7]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[9]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) + SF[8]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SF[11]*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2) + SPP[7]*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2) + SPP[6]*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2); + nextP[3][1] = P[3][1] + SQ[4] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2 + SF[6]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[5]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) + SF[9]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SPP[6]*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2) - SPP[7]*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2) - (q0*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2))/2; + nextP[3][2] = P[3][2] + SQ[3] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2 + SF[4]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[8]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[6]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SF[11]*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2) - SPP[6]*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2) - (q0*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2))/2; + nextP[3][3] = P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] + (dayCov*SQ[10])/4 + dazCov*SQ[9] - (P[12][3]*q0)/2 + SF[5]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[4]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[7]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) - SF[11]*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2) + SPP[7]*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2) + (daxCov*sq(q2))/4 - (q0*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2))/2; + nextP[3][4] = P[3][4] + P[0][4]*SF[5] + P[1][4]*SF[4] + P[2][4]*SF[7] - P[11][4]*SF[11] + P[10][4]*SPP[7] - (P[12][4]*q0)/2 + SF[3]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[1]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SPP[0]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) - SPP[2]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) - SPP[4]*(P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2); + nextP[3][5] = P[3][5] + P[0][5]*SF[5] + P[1][5]*SF[4] + P[2][5]*SF[7] - P[11][5]*SF[11] + P[10][5]*SPP[7] - (P[12][5]*q0)/2 + SF[2]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[1]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) + SF[3]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) - SPP[0]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SPP[3]*(P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2); + nextP[3][6] = P[3][6] + P[0][6]*SF[5] + P[1][6]*SF[4] + P[2][6]*SF[7] - P[11][6]*SF[11] + P[10][6]*SPP[7] - (P[12][6]*q0)/2 + SF[2]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[1]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SPP[0]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) - SPP[1]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2); + nextP[3][7] = P[3][7] + P[0][7]*SF[5] + P[1][7]*SF[4] + P[2][7]*SF[7] - P[11][7]*SF[11] + P[10][7]*SPP[7] - (P[12][7]*q0)/2 + dt*(P[3][4] + P[0][4]*SF[5] + P[1][4]*SF[4] + P[2][4]*SF[7] - P[11][4]*SF[11] + P[10][4]*SPP[7] - (P[12][4]*q0)/2); + nextP[3][8] = P[3][8] + P[0][8]*SF[5] + P[1][8]*SF[4] + P[2][8]*SF[7] - P[11][8]*SF[11] + P[10][8]*SPP[7] - (P[12][8]*q0)/2 + dt*(P[3][5] + P[0][5]*SF[5] + P[1][5]*SF[4] + P[2][5]*SF[7] - P[11][5]*SF[11] + P[10][5]*SPP[7] - (P[12][5]*q0)/2); + nextP[3][9] = P[3][9] + P[0][9]*SF[5] + P[1][9]*SF[4] + P[2][9]*SF[7] - P[11][9]*SF[11] + P[10][9]*SPP[7] - (P[12][9]*q0)/2 + dt*(P[3][6] + P[0][6]*SF[5] + P[1][6]*SF[4] + P[2][6]*SF[7] - P[11][6]*SF[11] + P[10][6]*SPP[7] - (P[12][6]*q0)/2); + nextP[3][10] = P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2; + nextP[3][11] = P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2; + nextP[3][12] = P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2; + nextP[3][13] = P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2; + nextP[3][14] = P[3][14] + P[0][14]*SF[5] + P[1][14]*SF[4] + P[2][14]*SF[7] - P[11][14]*SF[11] + P[10][14]*SPP[7] - (P[12][14]*q0)/2; + nextP[3][15] = P[3][15] + P[0][15]*SF[5] + P[1][15]*SF[4] + P[2][15]*SF[7] - P[11][15]*SF[11] + P[10][15]*SPP[7] - (P[12][15]*q0)/2; + nextP[3][16] = P[3][16] + P[0][16]*SF[5] + P[1][16]*SF[4] + P[2][16]*SF[7] - P[11][16]*SF[11] + P[10][16]*SPP[7] - (P[12][16]*q0)/2; + nextP[3][17] = P[3][17] + P[0][17]*SF[5] + P[1][17]*SF[4] + P[2][17]*SF[7] - P[11][17]*SF[11] + P[10][17]*SPP[7] - (P[12][17]*q0)/2; + nextP[3][18] = P[3][18] + P[0][18]*SF[5] + P[1][18]*SF[4] + P[2][18]*SF[7] - P[11][18]*SF[11] + P[10][18]*SPP[7] - (P[12][18]*q0)/2; + nextP[3][19] = P[3][19] + P[0][19]*SF[5] + P[1][19]*SF[4] + P[2][19]*SF[7] - P[11][19]*SF[11] + P[10][19]*SPP[7] - (P[12][19]*q0)/2; + nextP[3][20] = P[3][20] + P[0][20]*SF[5] + P[1][20]*SF[4] + P[2][20]*SF[7] - P[11][20]*SF[11] + P[10][20]*SPP[7] - (P[12][20]*q0)/2; + nextP[3][21] = P[3][21] + P[0][21]*SF[5] + P[1][21]*SF[4] + P[2][21]*SF[7] - P[11][21]*SF[11] + P[10][21]*SPP[7] - (P[12][21]*q0)/2; + nextP[3][22] = P[3][22] + P[0][22]*SF[5] + P[1][22]*SF[4] + P[2][22]*SF[7] - P[11][22]*SF[11] + P[10][22]*SPP[7] - (P[12][22]*q0)/2; + nextP[4][0] = P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4] + SF[7]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[9]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) + SF[8]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SF[11]*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]) + SPP[7]*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]) + SPP[6]*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]); + nextP[4][1] = P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4] + SF[6]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[5]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) + SF[9]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SPP[6]*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]) - SPP[7]*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]) - (q0*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]))/2; + nextP[4][2] = P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4] + SF[4]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[8]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[6]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SF[11]*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]) - SPP[6]*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]) - (q0*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]))/2; + nextP[4][3] = P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4] + SF[5]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[4]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[7]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) - SF[11]*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]) + SPP[7]*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]) - (q0*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]))/2; + nextP[4][4] = P[4][4] + P[0][4]*SF[3] + P[1][4]*SF[1] + P[2][4]*SPP[0] - P[3][4]*SPP[2] - P[13][4]*SPP[4] + dvyCov*sq(SG[7] - 2*q0*q3) + dvzCov*sq(SG[6] + 2*q0*q2) + SF[3]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[1]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SPP[0]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) - SPP[2]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) - SPP[4]*(P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4]) + dvxCov*sq(SG[1] + SG[2] - SG[3] - SG[4]); + nextP[4][5] = P[4][5] + SQ[2] + P[0][5]*SF[3] + P[1][5]*SF[1] + P[2][5]*SPP[0] - P[3][5]*SPP[2] - P[13][5]*SPP[4] + SF[2]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[1]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) + SF[3]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) - SPP[0]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SPP[3]*(P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4]); + nextP[4][6] = P[4][6] + SQ[1] + P[0][6]*SF[3] + P[1][6]*SF[1] + P[2][6]*SPP[0] - P[3][6]*SPP[2] - P[13][6]*SPP[4] + SF[2]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[1]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SPP[0]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) - SPP[1]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4]); + nextP[4][7] = P[4][7] + P[0][7]*SF[3] + P[1][7]*SF[1] + P[2][7]*SPP[0] - P[3][7]*SPP[2] - P[13][7]*SPP[4] + dt*(P[4][4] + P[0][4]*SF[3] + P[1][4]*SF[1] + P[2][4]*SPP[0] - P[3][4]*SPP[2] - P[13][4]*SPP[4]); + nextP[4][8] = P[4][8] + P[0][8]*SF[3] + P[1][8]*SF[1] + P[2][8]*SPP[0] - P[3][8]*SPP[2] - P[13][8]*SPP[4] + dt*(P[4][5] + P[0][5]*SF[3] + P[1][5]*SF[1] + P[2][5]*SPP[0] - P[3][5]*SPP[2] - P[13][5]*SPP[4]); + nextP[4][9] = P[4][9] + P[0][9]*SF[3] + P[1][9]*SF[1] + P[2][9]*SPP[0] - P[3][9]*SPP[2] - P[13][9]*SPP[4] + dt*(P[4][6] + P[0][6]*SF[3] + P[1][6]*SF[1] + P[2][6]*SPP[0] - P[3][6]*SPP[2] - P[13][6]*SPP[4]); + nextP[4][10] = P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]; + nextP[4][11] = P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]; + nextP[4][12] = P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]; + nextP[4][13] = P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4]; + nextP[4][14] = P[4][14] + P[0][14]*SF[3] + P[1][14]*SF[1] + P[2][14]*SPP[0] - P[3][14]*SPP[2] - P[13][14]*SPP[4]; + nextP[4][15] = P[4][15] + P[0][15]*SF[3] + P[1][15]*SF[1] + P[2][15]*SPP[0] - P[3][15]*SPP[2] - P[13][15]*SPP[4]; + nextP[4][16] = P[4][16] + P[0][16]*SF[3] + P[1][16]*SF[1] + P[2][16]*SPP[0] - P[3][16]*SPP[2] - P[13][16]*SPP[4]; + nextP[4][17] = P[4][17] + P[0][17]*SF[3] + P[1][17]*SF[1] + P[2][17]*SPP[0] - P[3][17]*SPP[2] - P[13][17]*SPP[4]; + nextP[4][18] = P[4][18] + P[0][18]*SF[3] + P[1][18]*SF[1] + P[2][18]*SPP[0] - P[3][18]*SPP[2] - P[13][18]*SPP[4]; + nextP[4][19] = P[4][19] + P[0][19]*SF[3] + P[1][19]*SF[1] + P[2][19]*SPP[0] - P[3][19]*SPP[2] - P[13][19]*SPP[4]; + nextP[4][20] = P[4][20] + P[0][20]*SF[3] + P[1][20]*SF[1] + P[2][20]*SPP[0] - P[3][20]*SPP[2] - P[13][20]*SPP[4]; + nextP[4][21] = P[4][21] + P[0][21]*SF[3] + P[1][21]*SF[1] + P[2][21]*SPP[0] - P[3][21]*SPP[2] - P[13][21]*SPP[4]; + nextP[4][22] = P[4][22] + P[0][22]*SF[3] + P[1][22]*SF[1] + P[2][22]*SPP[0] - P[3][22]*SPP[2] - P[13][22]*SPP[4]; + nextP[5][0] = P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3] + SF[7]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[9]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) + SF[8]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SF[11]*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]) + SPP[7]*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]) + SPP[6]*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]); + nextP[5][1] = P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3] + SF[6]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[5]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) + SF[9]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SPP[6]*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]) - SPP[7]*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]) - (q0*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]))/2; + nextP[5][2] = P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3] + SF[4]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[8]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[6]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SF[11]*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]) - SPP[6]*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]) - (q0*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]))/2; + nextP[5][3] = P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3] + SF[5]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[4]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[7]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) - SF[11]*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]) + SPP[7]*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]) - (q0*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]))/2; + nextP[5][4] = P[5][4] + SQ[2] + P[0][4]*SF[2] + P[2][4]*SF[1] + P[3][4]*SF[3] - P[1][4]*SPP[0] + P[13][4]*SPP[3] + SF[3]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[1]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SPP[0]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) - SPP[2]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) - SPP[4]*(P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3]); + nextP[5][5] = P[5][5] + P[0][5]*SF[2] + P[2][5]*SF[1] + P[3][5]*SF[3] - P[1][5]*SPP[0] + P[13][5]*SPP[3] + dvxCov*sq(SG[7] + 2*q0*q3) + dvzCov*sq(SG[5] - 2*q0*q1) + SF[2]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[1]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) + SF[3]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) - SPP[0]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SPP[3]*(P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3]) + dvyCov*sq(SG[1] - SG[2] + SG[3] - SG[4]); + nextP[5][6] = P[5][6] + SQ[0] + P[0][6]*SF[2] + P[2][6]*SF[1] + P[3][6]*SF[3] - P[1][6]*SPP[0] + P[13][6]*SPP[3] + SF[2]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[1]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SPP[0]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) - SPP[1]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3]); + nextP[5][7] = P[5][7] + P[0][7]*SF[2] + P[2][7]*SF[1] + P[3][7]*SF[3] - P[1][7]*SPP[0] + P[13][7]*SPP[3] + dt*(P[5][4] + P[0][4]*SF[2] + P[2][4]*SF[1] + P[3][4]*SF[3] - P[1][4]*SPP[0] + P[13][4]*SPP[3]); + nextP[5][8] = P[5][8] + P[0][8]*SF[2] + P[2][8]*SF[1] + P[3][8]*SF[3] - P[1][8]*SPP[0] + P[13][8]*SPP[3] + dt*(P[5][5] + P[0][5]*SF[2] + P[2][5]*SF[1] + P[3][5]*SF[3] - P[1][5]*SPP[0] + P[13][5]*SPP[3]); + nextP[5][9] = P[5][9] + P[0][9]*SF[2] + P[2][9]*SF[1] + P[3][9]*SF[3] - P[1][9]*SPP[0] + P[13][9]*SPP[3] + dt*(P[5][6] + P[0][6]*SF[2] + P[2][6]*SF[1] + P[3][6]*SF[3] - P[1][6]*SPP[0] + P[13][6]*SPP[3]); + nextP[5][10] = P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]; + nextP[5][11] = P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]; + nextP[5][12] = P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]; + nextP[5][13] = P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3]; + nextP[5][14] = P[5][14] + P[0][14]*SF[2] + P[2][14]*SF[1] + P[3][14]*SF[3] - P[1][14]*SPP[0] + P[13][14]*SPP[3]; + nextP[5][15] = P[5][15] + P[0][15]*SF[2] + P[2][15]*SF[1] + P[3][15]*SF[3] - P[1][15]*SPP[0] + P[13][15]*SPP[3]; + nextP[5][16] = P[5][16] + P[0][16]*SF[2] + P[2][16]*SF[1] + P[3][16]*SF[3] - P[1][16]*SPP[0] + P[13][16]*SPP[3]; + nextP[5][17] = P[5][17] + P[0][17]*SF[2] + P[2][17]*SF[1] + P[3][17]*SF[3] - P[1][17]*SPP[0] + P[13][17]*SPP[3]; + nextP[5][18] = P[5][18] + P[0][18]*SF[2] + P[2][18]*SF[1] + P[3][18]*SF[3] - P[1][18]*SPP[0] + P[13][18]*SPP[3]; + nextP[5][19] = P[5][19] + P[0][19]*SF[2] + P[2][19]*SF[1] + P[3][19]*SF[3] - P[1][19]*SPP[0] + P[13][19]*SPP[3]; + nextP[5][20] = P[5][20] + P[0][20]*SF[2] + P[2][20]*SF[1] + P[3][20]*SF[3] - P[1][20]*SPP[0] + P[13][20]*SPP[3]; + nextP[5][21] = P[5][21] + P[0][21]*SF[2] + P[2][21]*SF[1] + P[3][21]*SF[3] - P[1][21]*SPP[0] + P[13][21]*SPP[3]; + nextP[5][22] = P[5][22] + P[0][22]*SF[2] + P[2][22]*SF[1] + P[3][22]*SF[3] - P[1][22]*SPP[0] + P[13][22]*SPP[3]; + nextP[6][0] = P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[7]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[9]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[8]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[11]*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[7]*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[6]*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))); + nextP[6][1] = P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[6]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[5]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[9]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[6]*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[7]*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - (q0*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))))/2; + nextP[6][2] = P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[4]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[8]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[6]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[11]*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[6]*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - (q0*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))))/2; + nextP[6][3] = P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[5]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[4]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[7]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SF[11]*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[7]*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - (q0*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))))/2; + nextP[6][4] = P[6][4] + SQ[1] + P[1][4]*SF[2] + P[3][4]*SF[1] + P[0][4]*SPP[0] - P[2][4]*SPP[1] - P[13][4]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[3]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[1]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[0]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[2]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[4]*(P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))); + nextP[6][5] = P[6][5] + SQ[0] + P[1][5]*SF[2] + P[3][5]*SF[1] + P[0][5]*SPP[0] - P[2][5]*SPP[1] - P[13][5]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[2]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[1]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[3]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[0]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[3]*(P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))); + nextP[6][6] = P[6][6] + P[1][6]*SF[2] + P[3][6]*SF[1] + P[0][6]*SPP[0] - P[2][6]*SPP[1] - P[13][6]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + dvxCov*sq(SG[6] - 2*q0*q2) + dvyCov*sq(SG[5] + 2*q0*q1) - SPP[5]*(P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*SPP[5]) + SF[2]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[1]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[0]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[1]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + dvzCov*sq(SG[1] - SG[2] - SG[3] + SG[4]); + nextP[6][7] = P[6][7] + P[1][7]*SF[2] + P[3][7]*SF[1] + P[0][7]*SPP[0] - P[2][7]*SPP[1] - P[13][7]*SPP[5] + dt*(P[6][4] + P[1][4]*SF[2] + P[3][4]*SF[1] + P[0][4]*SPP[0] - P[2][4]*SPP[1] - P[13][4]*SPP[5]); + nextP[6][8] = P[6][8] + P[1][8]*SF[2] + P[3][8]*SF[1] + P[0][8]*SPP[0] - P[2][8]*SPP[1] - P[13][8]*SPP[5] + dt*(P[6][5] + P[1][5]*SF[2] + P[3][5]*SF[1] + P[0][5]*SPP[0] - P[2][5]*SPP[1] - P[13][5]*SPP[5]); + nextP[6][9] = P[6][9] + P[1][9]*SF[2] + P[3][9]*SF[1] + P[0][9]*SPP[0] - P[2][9]*SPP[1] - P[13][9]*SPP[5] + dt*(P[6][6] + P[1][6]*SF[2] + P[3][6]*SF[1] + P[0][6]*SPP[0] - P[2][6]*SPP[1] - P[13][6]*SPP[5]); + nextP[6][10] = P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*SPP[5]; + nextP[6][11] = P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*SPP[5]; + nextP[6][12] = P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*SPP[5]; + nextP[6][13] = P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*SPP[5]; + nextP[6][14] = P[6][14] + P[1][14]*SF[2] + P[3][14]*SF[1] + P[0][14]*SPP[0] - P[2][14]*SPP[1] - P[13][14]*SPP[5]; + nextP[6][15] = P[6][15] + P[1][15]*SF[2] + P[3][15]*SF[1] + P[0][15]*SPP[0] - P[2][15]*SPP[1] - P[13][15]*SPP[5]; + nextP[6][16] = P[6][16] + P[1][16]*SF[2] + P[3][16]*SF[1] + P[0][16]*SPP[0] - P[2][16]*SPP[1] - P[13][16]*SPP[5]; + nextP[6][17] = P[6][17] + P[1][17]*SF[2] + P[3][17]*SF[1] + P[0][17]*SPP[0] - P[2][17]*SPP[1] - P[13][17]*SPP[5]; + nextP[6][18] = P[6][18] + P[1][18]*SF[2] + P[3][18]*SF[1] + P[0][18]*SPP[0] - P[2][18]*SPP[1] - P[13][18]*SPP[5]; + nextP[6][19] = P[6][19] + P[1][19]*SF[2] + P[3][19]*SF[1] + P[0][19]*SPP[0] - P[2][19]*SPP[1] - P[13][19]*SPP[5]; + nextP[6][20] = P[6][20] + P[1][20]*SF[2] + P[3][20]*SF[1] + P[0][20]*SPP[0] - P[2][20]*SPP[1] - P[13][20]*SPP[5]; + nextP[6][21] = P[6][21] + P[1][21]*SF[2] + P[3][21]*SF[1] + P[0][21]*SPP[0] - P[2][21]*SPP[1] - P[13][21]*SPP[5]; + nextP[6][22] = P[6][22] + P[1][22]*SF[2] + P[3][22]*SF[1] + P[0][22]*SPP[0] - P[2][22]*SPP[1] - P[13][22]*SPP[5]; + nextP[7][0] = P[7][0] + P[4][0]*dt + SF[7]*(P[7][1] + P[4][1]*dt) + SF[9]*(P[7][2] + P[4][2]*dt) + SF[8]*(P[7][3] + P[4][3]*dt) + SF[11]*(P[7][10] + P[4][10]*dt) + SPP[7]*(P[7][11] + P[4][11]*dt) + SPP[6]*(P[7][12] + P[4][12]*dt); + nextP[7][1] = P[7][1] + P[4][1]*dt + SF[6]*(P[7][0] + P[4][0]*dt) + SF[5]*(P[7][2] + P[4][2]*dt) + SF[9]*(P[7][3] + P[4][3]*dt) + SPP[6]*(P[7][11] + P[4][11]*dt) - SPP[7]*(P[7][12] + P[4][12]*dt) - (q0*(P[7][10] + P[4][10]*dt))/2; + nextP[7][2] = P[7][2] + P[4][2]*dt + SF[4]*(P[7][0] + P[4][0]*dt) + SF[8]*(P[7][1] + P[4][1]*dt) + SF[6]*(P[7][3] + P[4][3]*dt) + SF[11]*(P[7][12] + P[4][12]*dt) - SPP[6]*(P[7][10] + P[4][10]*dt) - (q0*(P[7][11] + P[4][11]*dt))/2; + nextP[7][3] = P[7][3] + P[4][3]*dt + SF[5]*(P[7][0] + P[4][0]*dt) + SF[4]*(P[7][1] + P[4][1]*dt) + SF[7]*(P[7][2] + P[4][2]*dt) - SF[11]*(P[7][11] + P[4][11]*dt) + SPP[7]*(P[7][10] + P[4][10]*dt) - (q0*(P[7][12] + P[4][12]*dt))/2; + nextP[7][4] = P[7][4] + P[4][4]*dt + SF[1]*(P[7][1] + P[4][1]*dt) + SF[3]*(P[7][0] + P[4][0]*dt) + SPP[0]*(P[7][2] + P[4][2]*dt) - SPP[2]*(P[7][3] + P[4][3]*dt) - SPP[4]*(P[7][13] + P[4][13]*dt); + nextP[7][5] = P[7][5] + P[4][5]*dt + SF[2]*(P[7][0] + P[4][0]*dt) + SF[1]*(P[7][2] + P[4][2]*dt) + SF[3]*(P[7][3] + P[4][3]*dt) - SPP[0]*(P[7][1] + P[4][1]*dt) + SPP[3]*(P[7][13] + P[4][13]*dt); + nextP[7][6] = P[7][6] + P[4][6]*dt + SF[2]*(P[7][1] + P[4][1]*dt) + SF[1]*(P[7][3] + P[4][3]*dt) + SPP[0]*(P[7][0] + P[4][0]*dt) - SPP[1]*(P[7][2] + P[4][2]*dt) - SPP[5]*(P[7][13] + P[4][13]*dt); + nextP[7][7] = P[7][7] + P[4][7]*dt + dt*(P[7][4] + P[4][4]*dt); + nextP[7][8] = P[7][8] + P[4][8]*dt + dt*(P[7][5] + P[4][5]*dt); + nextP[7][9] = P[7][9] + P[4][9]*dt + dt*(P[7][6] + P[4][6]*dt); + nextP[7][10] = P[7][10] + P[4][10]*dt; + nextP[7][11] = P[7][11] + P[4][11]*dt; + nextP[7][12] = P[7][12] + P[4][12]*dt; + nextP[7][13] = P[7][13] + P[4][13]*dt; + nextP[7][14] = P[7][14] + P[4][14]*dt; + nextP[7][15] = P[7][15] + P[4][15]*dt; + nextP[7][16] = P[7][16] + P[4][16]*dt; + nextP[7][17] = P[7][17] + P[4][17]*dt; + nextP[7][18] = P[7][18] + P[4][18]*dt; + nextP[7][19] = P[7][19] + P[4][19]*dt; + nextP[7][20] = P[7][20] + P[4][20]*dt; + nextP[7][21] = P[7][21] + P[4][21]*dt; + nextP[7][22] = P[7][22] + P[4][22]*dt; + nextP[8][0] = P[8][0] + P[5][0]*dt + SF[7]*(P[8][1] + P[5][1]*dt) + SF[9]*(P[8][2] + P[5][2]*dt) + SF[8]*(P[8][3] + P[5][3]*dt) + SF[11]*(P[8][10] + P[5][10]*dt) + SPP[7]*(P[8][11] + P[5][11]*dt) + SPP[6]*(P[8][12] + P[5][12]*dt); + nextP[8][1] = P[8][1] + P[5][1]*dt + SF[6]*(P[8][0] + P[5][0]*dt) + SF[5]*(P[8][2] + P[5][2]*dt) + SF[9]*(P[8][3] + P[5][3]*dt) + SPP[6]*(P[8][11] + P[5][11]*dt) - SPP[7]*(P[8][12] + P[5][12]*dt) - (q0*(P[8][10] + P[5][10]*dt))/2; + nextP[8][2] = P[8][2] + P[5][2]*dt + SF[4]*(P[8][0] + P[5][0]*dt) + SF[8]*(P[8][1] + P[5][1]*dt) + SF[6]*(P[8][3] + P[5][3]*dt) + SF[11]*(P[8][12] + P[5][12]*dt) - SPP[6]*(P[8][10] + P[5][10]*dt) - (q0*(P[8][11] + P[5][11]*dt))/2; + nextP[8][3] = P[8][3] + P[5][3]*dt + SF[5]*(P[8][0] + P[5][0]*dt) + SF[4]*(P[8][1] + P[5][1]*dt) + SF[7]*(P[8][2] + P[5][2]*dt) - SF[11]*(P[8][11] + P[5][11]*dt) + SPP[7]*(P[8][10] + P[5][10]*dt) - (q0*(P[8][12] + P[5][12]*dt))/2; + nextP[8][4] = P[8][4] + P[5][4]*dt + SF[1]*(P[8][1] + P[5][1]*dt) + SF[3]*(P[8][0] + P[5][0]*dt) + SPP[0]*(P[8][2] + P[5][2]*dt) - SPP[2]*(P[8][3] + P[5][3]*dt) - SPP[4]*(P[8][13] + P[5][13]*dt); + nextP[8][5] = P[8][5] + P[5][5]*dt + SF[2]*(P[8][0] + P[5][0]*dt) + SF[1]*(P[8][2] + P[5][2]*dt) + SF[3]*(P[8][3] + P[5][3]*dt) - SPP[0]*(P[8][1] + P[5][1]*dt) + SPP[3]*(P[8][13] + P[5][13]*dt); + nextP[8][6] = P[8][6] + P[5][6]*dt + SF[2]*(P[8][1] + P[5][1]*dt) + SF[1]*(P[8][3] + P[5][3]*dt) + SPP[0]*(P[8][0] + P[5][0]*dt) - SPP[1]*(P[8][2] + P[5][2]*dt) - SPP[5]*(P[8][13] + P[5][13]*dt); + nextP[8][7] = P[8][7] + P[5][7]*dt + dt*(P[8][4] + P[5][4]*dt); + nextP[8][8] = P[8][8] + P[5][8]*dt + dt*(P[8][5] + P[5][5]*dt); + nextP[8][9] = P[8][9] + P[5][9]*dt + dt*(P[8][6] + P[5][6]*dt); + nextP[8][10] = P[8][10] + P[5][10]*dt; + nextP[8][11] = P[8][11] + P[5][11]*dt; + nextP[8][12] = P[8][12] + P[5][12]*dt; + nextP[8][13] = P[8][13] + P[5][13]*dt; + nextP[8][14] = P[8][14] + P[5][14]*dt; + nextP[8][15] = P[8][15] + P[5][15]*dt; + nextP[8][16] = P[8][16] + P[5][16]*dt; + nextP[8][17] = P[8][17] + P[5][17]*dt; + nextP[8][18] = P[8][18] + P[5][18]*dt; + nextP[8][19] = P[8][19] + P[5][19]*dt; + nextP[8][20] = P[8][20] + P[5][20]*dt; + nextP[8][21] = P[8][21] + P[5][21]*dt; + nextP[8][22] = P[8][22] + P[5][22]*dt; + nextP[9][0] = P[9][0] + P[6][0]*dt + SF[7]*(P[9][1] + P[6][1]*dt) + SF[9]*(P[9][2] + P[6][2]*dt) + SF[8]*(P[9][3] + P[6][3]*dt) + SF[11]*(P[9][10] + P[6][10]*dt) + SPP[7]*(P[9][11] + P[6][11]*dt) + SPP[6]*(P[9][12] + P[6][12]*dt); + nextP[9][1] = P[9][1] + P[6][1]*dt + SF[6]*(P[9][0] + P[6][0]*dt) + SF[5]*(P[9][2] + P[6][2]*dt) + SF[9]*(P[9][3] + P[6][3]*dt) + SPP[6]*(P[9][11] + P[6][11]*dt) - SPP[7]*(P[9][12] + P[6][12]*dt) - (q0*(P[9][10] + P[6][10]*dt))/2; + nextP[9][2] = P[9][2] + P[6][2]*dt + SF[4]*(P[9][0] + P[6][0]*dt) + SF[8]*(P[9][1] + P[6][1]*dt) + SF[6]*(P[9][3] + P[6][3]*dt) + SF[11]*(P[9][12] + P[6][12]*dt) - SPP[6]*(P[9][10] + P[6][10]*dt) - (q0*(P[9][11] + P[6][11]*dt))/2; + nextP[9][3] = P[9][3] + P[6][3]*dt + SF[5]*(P[9][0] + P[6][0]*dt) + SF[4]*(P[9][1] + P[6][1]*dt) + SF[7]*(P[9][2] + P[6][2]*dt) - SF[11]*(P[9][11] + P[6][11]*dt) + SPP[7]*(P[9][10] + P[6][10]*dt) - (q0*(P[9][12] + P[6][12]*dt))/2; + nextP[9][4] = P[9][4] + P[6][4]*dt + SF[1]*(P[9][1] + P[6][1]*dt) + SF[3]*(P[9][0] + P[6][0]*dt) + SPP[0]*(P[9][2] + P[6][2]*dt) - SPP[2]*(P[9][3] + P[6][3]*dt) - SPP[4]*(P[9][13] + P[6][13]*dt); + nextP[9][5] = P[9][5] + P[6][5]*dt + SF[2]*(P[9][0] + P[6][0]*dt) + SF[1]*(P[9][2] + P[6][2]*dt) + SF[3]*(P[9][3] + P[6][3]*dt) - SPP[0]*(P[9][1] + P[6][1]*dt) + SPP[3]*(P[9][13] + P[6][13]*dt); + nextP[9][6] = P[9][6] + P[6][6]*dt + SF[2]*(P[9][1] + P[6][1]*dt) + SF[1]*(P[9][3] + P[6][3]*dt) + SPP[0]*(P[9][0] + P[6][0]*dt) - SPP[1]*(P[9][2] + P[6][2]*dt) - SPP[5]*(P[9][13] + P[6][13]*dt); + nextP[9][7] = P[9][7] + P[6][7]*dt + dt*(P[9][4] + P[6][4]*dt); + nextP[9][8] = P[9][8] + P[6][8]*dt + dt*(P[9][5] + P[6][5]*dt); + nextP[9][9] = P[9][9] + P[6][9]*dt + dt*(P[9][6] + P[6][6]*dt); + nextP[9][10] = P[9][10] + P[6][10]*dt; + nextP[9][11] = P[9][11] + P[6][11]*dt; + nextP[9][12] = P[9][12] + P[6][12]*dt; + nextP[9][13] = P[9][13] + P[6][13]*dt; + nextP[9][14] = P[9][14] + P[6][14]*dt; + nextP[9][15] = P[9][15] + P[6][15]*dt; + nextP[9][16] = P[9][16] + P[6][16]*dt; + nextP[9][17] = P[9][17] + P[6][17]*dt; + nextP[9][18] = P[9][18] + P[6][18]*dt; + nextP[9][19] = P[9][19] + P[6][19]*dt; + nextP[9][20] = P[9][20] + P[6][20]*dt; + nextP[9][21] = P[9][21] + P[6][21]*dt; + nextP[9][22] = P[9][22] + P[6][22]*dt; + nextP[10][0] = P[10][0] + P[10][1]*SF[7] + P[10][2]*SF[9] + P[10][3]*SF[8] + P[10][10]*SF[11] + P[10][11]*SPP[7] + P[10][12]*SPP[6]; + nextP[10][1] = P[10][1] + P[10][0]*SF[6] + P[10][2]*SF[5] + P[10][3]*SF[9] + P[10][11]*SPP[6] - P[10][12]*SPP[7] - (P[10][10]*q0)/2; + nextP[10][2] = P[10][2] + P[10][0]*SF[4] + P[10][1]*SF[8] + P[10][3]*SF[6] + P[10][12]*SF[11] - P[10][10]*SPP[6] - (P[10][11]*q0)/2; + nextP[10][3] = P[10][3] + P[10][0]*SF[5] + P[10][1]*SF[4] + P[10][2]*SF[7] - P[10][11]*SF[11] + P[10][10]*SPP[7] - (P[10][12]*q0)/2; + nextP[10][4] = P[10][4] + P[10][1]*SF[1] + P[10][0]*SF[3] + P[10][2]*SPP[0] - P[10][3]*SPP[2] - P[10][13]*SPP[4]; + nextP[10][5] = P[10][5] + P[10][0]*SF[2] + P[10][2]*SF[1] + P[10][3]*SF[3] - P[10][1]*SPP[0] + P[10][13]*SPP[3]; + nextP[10][6] = P[10][6] + P[10][1]*SF[2] + P[10][3]*SF[1] + P[10][0]*SPP[0] - P[10][2]*SPP[1] - P[10][13]*SPP[5]; + nextP[10][7] = P[10][7] + P[10][4]*dt; + nextP[10][8] = P[10][8] + P[10][5]*dt; + nextP[10][9] = P[10][9] + P[10][6]*dt; + nextP[10][10] = P[10][10]; + nextP[10][11] = P[10][11]; + nextP[10][12] = P[10][12]; + nextP[10][13] = P[10][13]; + nextP[10][14] = P[10][14]; + nextP[10][15] = P[10][15]; + nextP[10][16] = P[10][16]; + nextP[10][17] = P[10][17]; + nextP[10][18] = P[10][18]; + nextP[10][19] = P[10][19]; + nextP[10][20] = P[10][20]; + nextP[10][21] = P[10][21]; + nextP[10][22] = P[10][22]; + nextP[11][0] = P[11][0] + P[11][1]*SF[7] + P[11][2]*SF[9] + P[11][3]*SF[8] + P[11][10]*SF[11] + P[11][11]*SPP[7] + P[11][12]*SPP[6]; + nextP[11][1] = P[11][1] + P[11][0]*SF[6] + P[11][2]*SF[5] + P[11][3]*SF[9] + P[11][11]*SPP[6] - P[11][12]*SPP[7] - (P[11][10]*q0)/2; + nextP[11][2] = P[11][2] + P[11][0]*SF[4] + P[11][1]*SF[8] + P[11][3]*SF[6] + P[11][12]*SF[11] - P[11][10]*SPP[6] - (P[11][11]*q0)/2; + nextP[11][3] = P[11][3] + P[11][0]*SF[5] + P[11][1]*SF[4] + P[11][2]*SF[7] - P[11][11]*SF[11] + P[11][10]*SPP[7] - (P[11][12]*q0)/2; + nextP[11][4] = P[11][4] + P[11][1]*SF[1] + P[11][0]*SF[3] + P[11][2]*SPP[0] - P[11][3]*SPP[2] - P[11][13]*SPP[4]; + nextP[11][5] = P[11][5] + P[11][0]*SF[2] + P[11][2]*SF[1] + P[11][3]*SF[3] - P[11][1]*SPP[0] + P[11][13]*SPP[3]; + nextP[11][6] = P[11][6] + P[11][1]*SF[2] + P[11][3]*SF[1] + P[11][0]*SPP[0] - P[11][2]*SPP[1] - P[11][13]*SPP[5]; + nextP[11][7] = P[11][7] + P[11][4]*dt; + nextP[11][8] = P[11][8] + P[11][5]*dt; + nextP[11][9] = P[11][9] + P[11][6]*dt; + nextP[11][10] = P[11][10]; + nextP[11][11] = P[11][11]; + nextP[11][12] = P[11][12]; + nextP[11][13] = P[11][13]; + nextP[11][14] = P[11][14]; + nextP[11][15] = P[11][15]; + nextP[11][16] = P[11][16]; + nextP[11][17] = P[11][17]; + nextP[11][18] = P[11][18]; + nextP[11][19] = P[11][19]; + nextP[11][20] = P[11][20]; + nextP[11][21] = P[11][21]; + nextP[11][22] = P[11][22]; + nextP[12][0] = P[12][0] + P[12][1]*SF[7] + P[12][2]*SF[9] + P[12][3]*SF[8] + P[12][10]*SF[11] + P[12][11]*SPP[7] + P[12][12]*SPP[6]; + nextP[12][1] = P[12][1] + P[12][0]*SF[6] + P[12][2]*SF[5] + P[12][3]*SF[9] + P[12][11]*SPP[6] - P[12][12]*SPP[7] - (P[12][10]*q0)/2; + nextP[12][2] = P[12][2] + P[12][0]*SF[4] + P[12][1]*SF[8] + P[12][3]*SF[6] + P[12][12]*SF[11] - P[12][10]*SPP[6] - (P[12][11]*q0)/2; + nextP[12][3] = P[12][3] + P[12][0]*SF[5] + P[12][1]*SF[4] + P[12][2]*SF[7] - P[12][11]*SF[11] + P[12][10]*SPP[7] - (P[12][12]*q0)/2; + nextP[12][4] = P[12][4] + P[12][1]*SF[1] + P[12][0]*SF[3] + P[12][2]*SPP[0] - P[12][3]*SPP[2] - P[12][13]*SPP[4]; + nextP[12][5] = P[12][5] + P[12][0]*SF[2] + P[12][2]*SF[1] + P[12][3]*SF[3] - P[12][1]*SPP[0] + P[12][13]*SPP[3]; + nextP[12][6] = P[12][6] + P[12][1]*SF[2] + P[12][3]*SF[1] + P[12][0]*SPP[0] - P[12][2]*SPP[1] - P[12][13]*SPP[5]; + nextP[12][7] = P[12][7] + P[12][4]*dt; + nextP[12][8] = P[12][8] + P[12][5]*dt; + nextP[12][9] = P[12][9] + P[12][6]*dt; + nextP[12][10] = P[12][10]; + nextP[12][11] = P[12][11]; + nextP[12][12] = P[12][12]; + nextP[12][13] = P[12][13]; + nextP[12][14] = P[12][14]; + nextP[12][15] = P[12][15]; + nextP[12][16] = P[12][16]; + nextP[12][17] = P[12][17]; + nextP[12][18] = P[12][18]; + nextP[12][19] = P[12][19]; + nextP[12][20] = P[12][20]; + nextP[12][21] = P[12][21]; + nextP[12][22] = P[12][22]; + nextP[13][0] = P[13][0] + P[13][1]*SF[7] + P[13][2]*SF[9] + P[13][3]*SF[8] + P[13][10]*SF[11] + P[13][11]*SPP[7] + P[13][12]*SPP[6]; + nextP[13][1] = P[13][1] + P[13][0]*SF[6] + P[13][2]*SF[5] + P[13][3]*SF[9] + P[13][11]*SPP[6] - P[13][12]*SPP[7] - (P[13][10]*q0)/2; + nextP[13][2] = P[13][2] + P[13][0]*SF[4] + P[13][1]*SF[8] + P[13][3]*SF[6] + P[13][12]*SF[11] - P[13][10]*SPP[6] - (P[13][11]*q0)/2; + nextP[13][3] = P[13][3] + P[13][0]*SF[5] + P[13][1]*SF[4] + P[13][2]*SF[7] - P[13][11]*SF[11] + P[13][10]*SPP[7] - (P[13][12]*q0)/2; + nextP[13][4] = P[13][4] + P[13][1]*SF[1] + P[13][0]*SF[3] + P[13][2]*SPP[0] - P[13][3]*SPP[2] - P[13][13]*SPP[4]; + nextP[13][5] = P[13][5] + P[13][0]*SF[2] + P[13][2]*SF[1] + P[13][3]*SF[3] - P[13][1]*SPP[0] + P[13][13]*SPP[3]; + nextP[13][6] = P[13][6] + P[13][1]*SF[2] + P[13][3]*SF[1] + P[13][0]*SPP[0] - P[13][2]*SPP[1] - P[13][13]*SPP[5]; + nextP[13][7] = P[13][7] + P[13][4]*dt; + nextP[13][8] = P[13][8] + P[13][5]*dt; + nextP[13][9] = P[13][9] + P[13][6]*dt; + nextP[13][10] = P[13][10]; + nextP[13][11] = P[13][11]; + nextP[13][12] = P[13][12]; + nextP[13][13] = P[13][13]; + nextP[13][14] = P[13][14]; + nextP[13][15] = P[13][15]; + nextP[13][16] = P[13][16]; + nextP[13][17] = P[13][17]; + nextP[13][18] = P[13][18]; + nextP[13][19] = P[13][19]; + nextP[13][20] = P[13][20]; + nextP[13][21] = P[13][21]; + nextP[13][22] = P[13][22]; + nextP[14][0] = P[14][0] + P[14][1]*SF[7] + P[14][2]*SF[9] + P[14][3]*SF[8] + P[14][10]*SF[11] + P[14][11]*SPP[7] + P[14][12]*SPP[6]; + nextP[14][1] = P[14][1] + P[14][0]*SF[6] + P[14][2]*SF[5] + P[14][3]*SF[9] + P[14][11]*SPP[6] - P[14][12]*SPP[7] - (P[14][10]*q0)/2; + nextP[14][2] = P[14][2] + P[14][0]*SF[4] + P[14][1]*SF[8] + P[14][3]*SF[6] + P[14][12]*SF[11] - P[14][10]*SPP[6] - (P[14][11]*q0)/2; + nextP[14][3] = P[14][3] + P[14][0]*SF[5] + P[14][1]*SF[4] + P[14][2]*SF[7] - P[14][11]*SF[11] + P[14][10]*SPP[7] - (P[14][12]*q0)/2; + nextP[14][4] = P[14][4] + P[14][1]*SF[1] + P[14][0]*SF[3] + P[14][2]*SPP[0] - P[14][3]*SPP[2] - P[14][13]*SPP[4]; + nextP[14][5] = P[14][5] + P[14][0]*SF[2] + P[14][2]*SF[1] + P[14][3]*SF[3] - P[14][1]*SPP[0] + P[14][13]*SPP[3]; + nextP[14][6] = P[14][6] + P[14][1]*SF[2] + P[14][3]*SF[1] + P[14][0]*SPP[0] - P[14][2]*SPP[1] - P[14][13]*SPP[5]; + nextP[14][7] = P[14][7] + P[14][4]*dt; + nextP[14][8] = P[14][8] + P[14][5]*dt; + nextP[14][9] = P[14][9] + P[14][6]*dt; + nextP[14][10] = P[14][10]; + nextP[14][11] = P[14][11]; + nextP[14][12] = P[14][12]; + nextP[14][13] = P[14][13]; + nextP[14][14] = P[14][14]; + nextP[14][15] = P[14][15]; + nextP[14][16] = P[14][16]; + nextP[14][17] = P[14][17]; + nextP[14][18] = P[14][18]; + nextP[14][19] = P[14][19]; + nextP[14][20] = P[14][20]; + nextP[14][21] = P[14][21]; + nextP[14][22] = P[14][22]; + nextP[15][0] = P[15][0] + P[15][1]*SF[7] + P[15][2]*SF[9] + P[15][3]*SF[8] + P[15][10]*SF[11] + P[15][11]*SPP[7] + P[15][12]*SPP[6]; + nextP[15][1] = P[15][1] + P[15][0]*SF[6] + P[15][2]*SF[5] + P[15][3]*SF[9] + P[15][11]*SPP[6] - P[15][12]*SPP[7] - (P[15][10]*q0)/2; + nextP[15][2] = P[15][2] + P[15][0]*SF[4] + P[15][1]*SF[8] + P[15][3]*SF[6] + P[15][12]*SF[11] - P[15][10]*SPP[6] - (P[15][11]*q0)/2; + nextP[15][3] = P[15][3] + P[15][0]*SF[5] + P[15][1]*SF[4] + P[15][2]*SF[7] - P[15][11]*SF[11] + P[15][10]*SPP[7] - (P[15][12]*q0)/2; + nextP[15][4] = P[15][4] + P[15][1]*SF[1] + P[15][0]*SF[3] + P[15][2]*SPP[0] - P[15][3]*SPP[2] - P[15][13]*SPP[4]; + nextP[15][5] = P[15][5] + P[15][0]*SF[2] + P[15][2]*SF[1] + P[15][3]*SF[3] - P[15][1]*SPP[0] + P[15][13]*SPP[3]; + nextP[15][6] = P[15][6] + P[15][1]*SF[2] + P[15][3]*SF[1] + P[15][0]*SPP[0] - P[15][2]*SPP[1] - P[15][13]*SPP[5]; + nextP[15][7] = P[15][7] + P[15][4]*dt; + nextP[15][8] = P[15][8] + P[15][5]*dt; + nextP[15][9] = P[15][9] + P[15][6]*dt; + nextP[15][10] = P[15][10]; + nextP[15][11] = P[15][11]; + nextP[15][12] = P[15][12]; + nextP[15][13] = P[15][13]; + nextP[15][14] = P[15][14]; + nextP[15][15] = P[15][15]; + nextP[15][16] = P[15][16]; + nextP[15][17] = P[15][17]; + nextP[15][18] = P[15][18]; + nextP[15][19] = P[15][19]; + nextP[15][20] = P[15][20]; + nextP[15][21] = P[15][21]; + nextP[15][22] = P[15][22]; + nextP[16][0] = P[16][0] + P[16][1]*SF[7] + P[16][2]*SF[9] + P[16][3]*SF[8] + P[16][10]*SF[11] + P[16][11]*SPP[7] + P[16][12]*SPP[6]; + nextP[16][1] = P[16][1] + P[16][0]*SF[6] + P[16][2]*SF[5] + P[16][3]*SF[9] + P[16][11]*SPP[6] - P[16][12]*SPP[7] - (P[16][10]*q0)/2; + nextP[16][2] = P[16][2] + P[16][0]*SF[4] + P[16][1]*SF[8] + P[16][3]*SF[6] + P[16][12]*SF[11] - P[16][10]*SPP[6] - (P[16][11]*q0)/2; + nextP[16][3] = P[16][3] + P[16][0]*SF[5] + P[16][1]*SF[4] + P[16][2]*SF[7] - P[16][11]*SF[11] + P[16][10]*SPP[7] - (P[16][12]*q0)/2; + nextP[16][4] = P[16][4] + P[16][1]*SF[1] + P[16][0]*SF[3] + P[16][2]*SPP[0] - P[16][3]*SPP[2] - P[16][13]*SPP[4]; + nextP[16][5] = P[16][5] + P[16][0]*SF[2] + P[16][2]*SF[1] + P[16][3]*SF[3] - P[16][1]*SPP[0] + P[16][13]*SPP[3]; + nextP[16][6] = P[16][6] + P[16][1]*SF[2] + P[16][3]*SF[1] + P[16][0]*SPP[0] - P[16][2]*SPP[1] - P[16][13]*SPP[5]; + nextP[16][7] = P[16][7] + P[16][4]*dt; + nextP[16][8] = P[16][8] + P[16][5]*dt; + nextP[16][9] = P[16][9] + P[16][6]*dt; + nextP[16][10] = P[16][10]; + nextP[16][11] = P[16][11]; + nextP[16][12] = P[16][12]; + nextP[16][13] = P[16][13]; + nextP[16][14] = P[16][14]; + nextP[16][15] = P[16][15]; + nextP[16][16] = P[16][16]; + nextP[16][17] = P[16][17]; + nextP[16][18] = P[16][18]; + nextP[16][19] = P[16][19]; + nextP[16][20] = P[16][20]; + nextP[16][21] = P[16][21]; + nextP[16][22] = P[16][22]; + nextP[17][0] = P[17][0] + P[17][1]*SF[7] + P[17][2]*SF[9] + P[17][3]*SF[8] + P[17][10]*SF[11] + P[17][11]*SPP[7] + P[17][12]*SPP[6]; + nextP[17][1] = P[17][1] + P[17][0]*SF[6] + P[17][2]*SF[5] + P[17][3]*SF[9] + P[17][11]*SPP[6] - P[17][12]*SPP[7] - (P[17][10]*q0)/2; + nextP[17][2] = P[17][2] + P[17][0]*SF[4] + P[17][1]*SF[8] + P[17][3]*SF[6] + P[17][12]*SF[11] - P[17][10]*SPP[6] - (P[17][11]*q0)/2; + nextP[17][3] = P[17][3] + P[17][0]*SF[5] + P[17][1]*SF[4] + P[17][2]*SF[7] - P[17][11]*SF[11] + P[17][10]*SPP[7] - (P[17][12]*q0)/2; + nextP[17][4] = P[17][4] + P[17][1]*SF[1] + P[17][0]*SF[3] + P[17][2]*SPP[0] - P[17][3]*SPP[2] - P[17][13]*SPP[4]; + nextP[17][5] = P[17][5] + P[17][0]*SF[2] + P[17][2]*SF[1] + P[17][3]*SF[3] - P[17][1]*SPP[0] + P[17][13]*SPP[3]; + nextP[17][6] = P[17][6] + P[17][1]*SF[2] + P[17][3]*SF[1] + P[17][0]*SPP[0] - P[17][2]*SPP[1] - P[17][13]*SPP[5]; + nextP[17][7] = P[17][7] + P[17][4]*dt; + nextP[17][8] = P[17][8] + P[17][5]*dt; + nextP[17][9] = P[17][9] + P[17][6]*dt; + nextP[17][10] = P[17][10]; + nextP[17][11] = P[17][11]; + nextP[17][12] = P[17][12]; + nextP[17][13] = P[17][13]; + nextP[17][14] = P[17][14]; + nextP[17][15] = P[17][15]; + nextP[17][16] = P[17][16]; + nextP[17][17] = P[17][17]; + nextP[17][18] = P[17][18]; + nextP[17][19] = P[17][19]; + nextP[17][20] = P[17][20]; + nextP[17][21] = P[17][21]; + nextP[17][22] = P[17][22]; + nextP[18][0] = P[18][0] + P[18][1]*SF[7] + P[18][2]*SF[9] + P[18][3]*SF[8] + P[18][10]*SF[11] + P[18][11]*SPP[7] + P[18][12]*SPP[6]; + nextP[18][1] = P[18][1] + P[18][0]*SF[6] + P[18][2]*SF[5] + P[18][3]*SF[9] + P[18][11]*SPP[6] - P[18][12]*SPP[7] - (P[18][10]*q0)/2; + nextP[18][2] = P[18][2] + P[18][0]*SF[4] + P[18][1]*SF[8] + P[18][3]*SF[6] + P[18][12]*SF[11] - P[18][10]*SPP[6] - (P[18][11]*q0)/2; + nextP[18][3] = P[18][3] + P[18][0]*SF[5] + P[18][1]*SF[4] + P[18][2]*SF[7] - P[18][11]*SF[11] + P[18][10]*SPP[7] - (P[18][12]*q0)/2; + nextP[18][4] = P[18][4] + P[18][1]*SF[1] + P[18][0]*SF[3] + P[18][2]*SPP[0] - P[18][3]*SPP[2] - P[18][13]*SPP[4]; + nextP[18][5] = P[18][5] + P[18][0]*SF[2] + P[18][2]*SF[1] + P[18][3]*SF[3] - P[18][1]*SPP[0] + P[18][13]*SPP[3]; + nextP[18][6] = P[18][6] + P[18][1]*SF[2] + P[18][3]*SF[1] + P[18][0]*SPP[0] - P[18][2]*SPP[1] - P[18][13]*SPP[5]; + nextP[18][7] = P[18][7] + P[18][4]*dt; + nextP[18][8] = P[18][8] + P[18][5]*dt; + nextP[18][9] = P[18][9] + P[18][6]*dt; + nextP[18][10] = P[18][10]; + nextP[18][11] = P[18][11]; + nextP[18][12] = P[18][12]; + nextP[18][13] = P[18][13]; + nextP[18][14] = P[18][14]; + nextP[18][15] = P[18][15]; + nextP[18][16] = P[18][16]; + nextP[18][17] = P[18][17]; + nextP[18][18] = P[18][18]; + nextP[18][19] = P[18][19]; + nextP[18][20] = P[18][20]; + nextP[18][21] = P[18][21]; + nextP[18][22] = P[18][22]; + nextP[19][0] = P[19][0] + P[19][1]*SF[7] + P[19][2]*SF[9] + P[19][3]*SF[8] + P[19][10]*SF[11] + P[19][11]*SPP[7] + P[19][12]*SPP[6]; + nextP[19][1] = P[19][1] + P[19][0]*SF[6] + P[19][2]*SF[5] + P[19][3]*SF[9] + P[19][11]*SPP[6] - P[19][12]*SPP[7] - (P[19][10]*q0)/2; + nextP[19][2] = P[19][2] + P[19][0]*SF[4] + P[19][1]*SF[8] + P[19][3]*SF[6] + P[19][12]*SF[11] - P[19][10]*SPP[6] - (P[19][11]*q0)/2; + nextP[19][3] = P[19][3] + P[19][0]*SF[5] + P[19][1]*SF[4] + P[19][2]*SF[7] - P[19][11]*SF[11] + P[19][10]*SPP[7] - (P[19][12]*q0)/2; + nextP[19][4] = P[19][4] + P[19][1]*SF[1] + P[19][0]*SF[3] + P[19][2]*SPP[0] - P[19][3]*SPP[2] - P[19][13]*SPP[4]; + nextP[19][5] = P[19][5] + P[19][0]*SF[2] + P[19][2]*SF[1] + P[19][3]*SF[3] - P[19][1]*SPP[0] + P[19][13]*SPP[3]; + nextP[19][6] = P[19][6] + P[19][1]*SF[2] + P[19][3]*SF[1] + P[19][0]*SPP[0] - P[19][2]*SPP[1] - P[19][13]*SPP[5]; + nextP[19][7] = P[19][7] + P[19][4]*dt; + nextP[19][8] = P[19][8] + P[19][5]*dt; + nextP[19][9] = P[19][9] + P[19][6]*dt; + nextP[19][10] = P[19][10]; + nextP[19][11] = P[19][11]; + nextP[19][12] = P[19][12]; + nextP[19][13] = P[19][13]; + nextP[19][14] = P[19][14]; + nextP[19][15] = P[19][15]; + nextP[19][16] = P[19][16]; + nextP[19][17] = P[19][17]; + nextP[19][18] = P[19][18]; + nextP[19][19] = P[19][19]; + nextP[19][20] = P[19][20]; + nextP[19][21] = P[19][21]; + nextP[19][22] = P[19][22]; + nextP[20][0] = P[20][0] + P[20][1]*SF[7] + P[20][2]*SF[9] + P[20][3]*SF[8] + P[20][10]*SF[11] + P[20][11]*SPP[7] + P[20][12]*SPP[6]; + nextP[20][1] = P[20][1] + P[20][0]*SF[6] + P[20][2]*SF[5] + P[20][3]*SF[9] + P[20][11]*SPP[6] - P[20][12]*SPP[7] - (P[20][10]*q0)/2; + nextP[20][2] = P[20][2] + P[20][0]*SF[4] + P[20][1]*SF[8] + P[20][3]*SF[6] + P[20][12]*SF[11] - P[20][10]*SPP[6] - (P[20][11]*q0)/2; + nextP[20][3] = P[20][3] + P[20][0]*SF[5] + P[20][1]*SF[4] + P[20][2]*SF[7] - P[20][11]*SF[11] + P[20][10]*SPP[7] - (P[20][12]*q0)/2; + nextP[20][4] = P[20][4] + P[20][1]*SF[1] + P[20][0]*SF[3] + P[20][2]*SPP[0] - P[20][3]*SPP[2] - P[20][13]*SPP[4]; + nextP[20][5] = P[20][5] + P[20][0]*SF[2] + P[20][2]*SF[1] + P[20][3]*SF[3] - P[20][1]*SPP[0] + P[20][13]*SPP[3]; + nextP[20][6] = P[20][6] + P[20][1]*SF[2] + P[20][3]*SF[1] + P[20][0]*SPP[0] - P[20][2]*SPP[1] - P[20][13]*SPP[5]; + nextP[20][7] = P[20][7] + P[20][4]*dt; + nextP[20][8] = P[20][8] + P[20][5]*dt; + nextP[20][9] = P[20][9] + P[20][6]*dt; + nextP[20][10] = P[20][10]; + nextP[20][11] = P[20][11]; + nextP[20][12] = P[20][12]; + nextP[20][13] = P[20][13]; + nextP[20][14] = P[20][14]; + nextP[20][15] = P[20][15]; + nextP[20][16] = P[20][16]; + nextP[20][17] = P[20][17]; + nextP[20][18] = P[20][18]; + nextP[20][19] = P[20][19]; + nextP[20][20] = P[20][20]; + nextP[20][21] = P[20][21]; + nextP[20][22] = P[20][22]; + nextP[21][0] = P[21][0] + P[21][1]*SF[7] + P[21][2]*SF[9] + P[21][3]*SF[8] + P[21][10]*SF[11] + P[21][11]*SPP[7] + P[21][12]*SPP[6]; + nextP[21][1] = P[21][1] + P[21][0]*SF[6] + P[21][2]*SF[5] + P[21][3]*SF[9] + P[21][11]*SPP[6] - P[21][12]*SPP[7] - (P[21][10]*q0)/2; + nextP[21][2] = P[21][2] + P[21][0]*SF[4] + P[21][1]*SF[8] + P[21][3]*SF[6] + P[21][12]*SF[11] - P[21][10]*SPP[6] - (P[21][11]*q0)/2; + nextP[21][3] = P[21][3] + P[21][0]*SF[5] + P[21][1]*SF[4] + P[21][2]*SF[7] - P[21][11]*SF[11] + P[21][10]*SPP[7] - (P[21][12]*q0)/2; + nextP[21][4] = P[21][4] + P[21][1]*SF[1] + P[21][0]*SF[3] + P[21][2]*SPP[0] - P[21][3]*SPP[2] - P[21][13]*SPP[4]; + nextP[21][5] = P[21][5] + P[21][0]*SF[2] + P[21][2]*SF[1] + P[21][3]*SF[3] - P[21][1]*SPP[0] + P[21][13]*SPP[3]; + nextP[21][6] = P[21][6] + P[21][1]*SF[2] + P[21][3]*SF[1] + P[21][0]*SPP[0] - P[21][2]*SPP[1] - P[21][13]*SPP[5]; + nextP[21][7] = P[21][7] + P[21][4]*dt; + nextP[21][8] = P[21][8] + P[21][5]*dt; + nextP[21][9] = P[21][9] + P[21][6]*dt; + nextP[21][10] = P[21][10]; + nextP[21][11] = P[21][11]; + nextP[21][12] = P[21][12]; + nextP[21][13] = P[21][13]; + nextP[21][14] = P[21][14]; + nextP[21][15] = P[21][15]; + nextP[21][16] = P[21][16]; + nextP[21][17] = P[21][17]; + nextP[21][18] = P[21][18]; + nextP[21][19] = P[21][19]; + nextP[21][20] = P[21][20]; + nextP[21][21] = P[21][21]; + nextP[21][22] = P[21][22]; + nextP[22][0] = P[22][0] + P[22][1]*SF[7] + P[22][2]*SF[9] + P[22][3]*SF[8] + P[22][10]*SF[11] + P[22][11]*SPP[7] + P[22][12]*SPP[6]; + nextP[22][1] = P[22][1] + P[22][0]*SF[6] + P[22][2]*SF[5] + P[22][3]*SF[9] + P[22][11]*SPP[6] - P[22][12]*SPP[7] - (P[22][10]*q0)/2; + nextP[22][2] = P[22][2] + P[22][0]*SF[4] + P[22][1]*SF[8] + P[22][3]*SF[6] + P[22][12]*SF[11] - P[22][10]*SPP[6] - (P[22][11]*q0)/2; + nextP[22][3] = P[22][3] + P[22][0]*SF[5] + P[22][1]*SF[4] + P[22][2]*SF[7] - P[22][11]*SF[11] + P[22][10]*SPP[7] - (P[22][12]*q0)/2; + nextP[22][4] = P[22][4] + P[22][1]*SF[1] + P[22][0]*SF[3] + P[22][2]*SPP[0] - P[22][3]*SPP[2] - P[22][13]*SPP[4]; + nextP[22][5] = P[22][5] + P[22][0]*SF[2] + P[22][2]*SF[1] + P[22][3]*SF[3] - P[22][1]*SPP[0] + P[22][13]*SPP[3]; + nextP[22][6] = P[22][6] + P[22][1]*SF[2] + P[22][3]*SF[1] + P[22][0]*SPP[0] - P[22][2]*SPP[1] - P[22][13]*SPP[5]; + nextP[22][7] = P[22][7] + P[22][4]*dt; + nextP[22][8] = P[22][8] + P[22][5]*dt; + nextP[22][9] = P[22][9] + P[22][6]*dt; + nextP[22][10] = P[22][10]; + nextP[22][11] = P[22][11]; + nextP[22][12] = P[22][12]; + nextP[22][13] = P[22][13]; + nextP[22][14] = P[22][14]; + nextP[22][15] = P[22][15]; + nextP[22][16] = P[22][16]; + nextP[22][17] = P[22][17]; + nextP[22][18] = P[22][18]; + nextP[22][19] = P[22][19]; + nextP[22][20] = P[22][20]; + nextP[22][21] = P[22][21]; + nextP[22][22] = P[22][22]; + + for (unsigned i = 0; i < n_states; i++) + { + nextP[i][i] = nextP[i][i] + processNoise[i]; + } + + // If on ground or no magnetometer fitted, inhibit magnetometer bias updates by + // setting the coresponding covariance terms to zero. + if (onGround || !useCompass) + { + zeroRows(nextP,16,21); + zeroCols(nextP,16,21); + } + + // If on ground or not using airspeed sensing, inhibit wind velocity + // covariance growth. + if (onGround || !useAirspeed) + { + zeroRows(nextP,14,15); + zeroCols(nextP,14,15); + } + + // If on ground, inhibit terrain offset updates by + // setting the coresponding covariance terms to zero. + if (onGround) + { + zeroRows(nextP,22,22); + zeroCols(nextP,22,22); + } + + // If the total position variance exceds 1E6 (1000m), then stop covariance + // growth by setting the predicted to the previous values + // This prevent an ill conditioned matrix from occurring for long periods + // without GPS + if ((P[7][7] + P[8][8]) > 1E6f) + { + for (uint8_t i=7; i<=8; i++) + { + for (unsigned j = 0; j < n_states; j++) + { + nextP[i][j] = P[i][j]; + nextP[j][i] = P[j][i]; + } + } + } + + if (onGround || staticMode) { + // copy the portion of the variances we want to + // propagate + for (unsigned i = 0; i <= 13; i++) { + P[i][i] = nextP[i][i]; + + // force symmetry for observable states + // force zero for non-observable states + for (unsigned i = 1; i < n_states; i++) + { + for (uint8_t j = 0; j < i; j++) + { + if ((i > 13) || (j > 13)) { + P[i][j] = 0.0f; + } else { + P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]); + } + P[j][i] = P[i][j]; + } + } + } + + } else { + + // Copy covariance + for (unsigned i = 0; i < n_states; i++) { + P[i][i] = nextP[i][i]; + } + + // force symmetry for observable states + for (unsigned i = 1; i < n_states; i++) + { + for (uint8_t j = 0; j < i; j++) + { + P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]); + P[j][i] = P[i][j]; + } + } + + } + + ConstrainVariances(); +} + +void AttPosEKF::FuseVelposNED() +{ + +// declare variables used by fault isolation logic + uint32_t gpsRetryTime = 30000; // time in msec before GPS fusion will be retried following innovation consistency failure + uint32_t gpsRetryTimeNoTAS = 5000; // retry time if no TAS measurement available + uint32_t hgtRetryTime = 5000; // height measurement retry time + uint32_t horizRetryTime; + +// declare variables used to check measurement errors + float velInnov[3] = {0.0f,0.0f,0.0f}; + float posInnov[2] = {0.0f,0.0f}; + float hgtInnov = 0.0f; + +// declare variables used to control access to arrays + bool fuseData[6] = {false,false,false,false,false,false}; + uint8_t stateIndex; + uint8_t obsIndex; + uint8_t indexLimit; + +// declare variables used by state and covariance update calculations + float velErr; + float posErr; + float R_OBS[6]; + float observation[6]; + float SK; + float quatMag; + +// Perform sequential fusion of GPS measurements. This assumes that the +// errors in the different velocity and position components are +// uncorrelated which is not true, however in the absence of covariance +// data from the GPS receiver it is the only assumption we can make +// so we might as well take advantage of the computational efficiencies +// associated with sequential fusion + if (fuseVelData || fusePosData || fuseHgtData) + { + // set the GPS data timeout depending on whether airspeed data is present + if (useAirspeed) horizRetryTime = gpsRetryTime; + else horizRetryTime = gpsRetryTimeNoTAS; + + // Form the observation vector + for (uint8_t i=0; i<=2; i++) observation[i] = velNED[i]; + for (uint8_t i=3; i<=4; i++) observation[i] = posNE[i-3]; + observation[5] = -(hgtMea); + + // Estimate the GPS Velocity, GPS horiz position and height measurement variances. + velErr = 0.2f*accNavMag; // additional error in GPS velocities caused by manoeuvring + posErr = 0.2f*accNavMag; // additional error in GPS position caused by manoeuvring + R_OBS[0] = sq(vneSigma) + sq(velErr); + R_OBS[1] = R_OBS[0]; + R_OBS[2] = sq(vdSigma) + sq(velErr); + R_OBS[3] = sq(posNeSigma) + sq(posErr); + R_OBS[4] = R_OBS[3]; + R_OBS[5] = sq(posDSigma) + sq(posErr); + + // Set innovation variances to zero default + for (uint8_t i = 0; i<=5; i++) + { + varInnovVelPos[i] = 0.0f; + } + // calculate innovations and check GPS data validity using an innovation consistency check + if (fuseVelData) + { + // test velocity measurements + uint8_t imax = 2; + if (fusionModeGPS == 1) imax = 1; + for (uint8_t i = 0; i<=imax; i++) + { + velInnov[i] = statesAtVelTime[i+4] - velNED[i]; + stateIndex = 4 + i; + varInnovVelPos[i] = P[stateIndex][stateIndex] + R_OBS[i]; + } + // apply a 5-sigma threshold + current_ekf_state.velHealth = (sq(velInnov[0]) + sq(velInnov[1]) + sq(velInnov[2])) < 25.0f * (varInnovVelPos[0] + varInnovVelPos[1] + varInnovVelPos[2]); + current_ekf_state.velTimeout = (millis() - current_ekf_state.velFailTime) > horizRetryTime; + if (current_ekf_state.velHealth || current_ekf_state.velTimeout) + { + current_ekf_state.velHealth = true; + current_ekf_state.velFailTime = millis(); + } + else + { + current_ekf_state.velHealth = false; + } + } + if (fusePosData) + { + // test horizontal position measurements + posInnov[0] = statesAtPosTime[7] - posNE[0]; + posInnov[1] = statesAtPosTime[8] - posNE[1]; + varInnovVelPos[3] = P[7][7] + R_OBS[3]; + varInnovVelPos[4] = P[8][8] + R_OBS[4]; + // apply a 10-sigma threshold + current_ekf_state.posHealth = (sq(posInnov[0]) + sq(posInnov[1])) < 100.0f*(varInnovVelPos[3] + varInnovVelPos[4]); + current_ekf_state.posTimeout = (millis() - current_ekf_state.posFailTime) > horizRetryTime; + if (current_ekf_state.posHealth || current_ekf_state.posTimeout) + { + current_ekf_state.posHealth = true; + current_ekf_state.posFailTime = millis(); + } + else + { + current_ekf_state.posHealth = false; + } + } + // test height measurements + if (fuseHgtData) + { + hgtInnov = statesAtHgtTime[9] + hgtMea; + varInnovVelPos[5] = P[9][9] + R_OBS[5]; + // apply a 10-sigma threshold + current_ekf_state.hgtHealth = sq(hgtInnov) < 100.0f*varInnovVelPos[5]; + current_ekf_state.hgtTimeout = (millis() - current_ekf_state.hgtFailTime) > hgtRetryTime; + if (current_ekf_state.hgtHealth || current_ekf_state.hgtTimeout) + { + current_ekf_state.hgtHealth = true; + current_ekf_state.hgtFailTime = millis(); + } + else + { + current_ekf_state.hgtHealth = false; + } + } + // Set range for sequential fusion of velocity and position measurements depending + // on which data is available and its health + if (fuseVelData && fusionModeGPS == 0 && current_ekf_state.velHealth) + { + fuseData[0] = true; + fuseData[1] = true; + fuseData[2] = true; + } + if (fuseVelData && fusionModeGPS == 1 && current_ekf_state.velHealth) + { + fuseData[0] = true; + fuseData[1] = true; + } + if (fusePosData && fusionModeGPS <= 2 && current_ekf_state.posHealth) + { + fuseData[3] = true; + fuseData[4] = true; + } + if (fuseHgtData && current_ekf_state.hgtHealth) + { + fuseData[5] = true; + } + // Limit range of states modified when on ground + if(!onGround) + { + indexLimit = 22; + } + else + { + indexLimit = 13; + } + // Fuse measurements sequentially + for (obsIndex=0; obsIndex<=5; obsIndex++) + { + if (fuseData[obsIndex]) + { + stateIndex = 4 + obsIndex; + // Calculate the measurement innovation, using states from a + // different time coordinate if fusing height data + if (obsIndex >= 0 && obsIndex <= 2) + { + innovVelPos[obsIndex] = statesAtVelTime[stateIndex] - observation[obsIndex]; + } + else if (obsIndex == 3 || obsIndex == 4) + { + innovVelPos[obsIndex] = statesAtPosTime[stateIndex] - observation[obsIndex]; + } + else if (obsIndex == 5) + { + innovVelPos[obsIndex] = statesAtHgtTime[stateIndex] - observation[obsIndex]; + } + // Calculate the Kalman Gain + // Calculate innovation variances - also used for data logging + varInnovVelPos[obsIndex] = P[stateIndex][stateIndex] + R_OBS[obsIndex]; + SK = 1.0/varInnovVelPos[obsIndex]; + for (uint8_t i= 0; i<=indexLimit; i++) + { + Kfusion[i] = P[i][stateIndex]*SK; + } + + // Don't update Z accel bias state unless using a height observation (GPS velocities can be biased) + if (obsIndex != 5) { + Kfusion[13] = 0; + } + + // Calculate state corrections and re-normalise the quaternions + for (uint8_t i = 0; i<=indexLimit; i++) + { + states[i] = states[i] - Kfusion[i] * innovVelPos[obsIndex]; + } + quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]); + if (quatMag > 1e-12f) // divide by 0 protection + { + for (uint8_t i = 0; i<=3; i++) + { + states[i] = states[i] / quatMag; + } + } + // Update the covariance - take advantage of direct observation of a + // single state at index = stateIndex to reduce computations + // Optimised implementation of standard equation P = (I - K*H)*P; + for (uint8_t i= 0; i<=indexLimit; i++) + { + for (uint8_t j= 0; j<=indexLimit; j++) + { + KHP[i][j] = Kfusion[i] * P[stateIndex][j]; + } + } + for (uint8_t i= 0; i<=indexLimit; i++) + { + for (uint8_t j= 0; j<=indexLimit; j++) + { + P[i][j] = P[i][j] - KHP[i][j]; + } + } + } + } + } + + ForceSymmetry(); + ConstrainVariances(); + +} + +void AttPosEKF::FuseMagnetometer() +{ + + float &q0 = magstate.q0; + float &q1 = magstate.q1; + float &q2 = magstate.q2; + float &q3 = magstate.q3; + float &magN = magstate.magN; + float &magE = magstate.magE; + float &magD = magstate.magD; + float &magXbias = magstate.magXbias; + float &magYbias = magstate.magYbias; + float &magZbias = magstate.magZbias; + unsigned &obsIndex = magstate.obsIndex; + Mat3f &DCM = magstate.DCM; + float *MagPred = &magstate.MagPred[0]; + float &R_MAG = magstate.R_MAG; + float *SH_MAG = &magstate.SH_MAG[0]; + + float SK_MX[6]; + float SK_MY[5]; + float SK_MZ[6]; + float H_MAG[n_states]; + for (uint8_t i = 0; i < n_states; i++) { + H_MAG[i] = 0.0f; + } + unsigned indexLimit; + +// Perform sequential fusion of Magnetometer measurements. +// This assumes that the errors in the different components are +// uncorrelated which is not true, however in the absence of covariance +// data fit is the only assumption we can make +// so we might as well take advantage of the computational efficiencies +// associated with sequential fusion + if (useCompass && (fuseMagData || obsIndex == 1 || obsIndex == 2)) + { + // Limit range of states modified when on ground + if(!onGround) + { + indexLimit = n_states; + } + else + { + indexLimit = 13 + 1; + } + + // Sequential fusion of XYZ components to spread processing load across + // three prediction time steps. + + // Calculate observation jacobians and Kalman gains + if (fuseMagData) + { + // Copy required states to local variable names + q0 = statesAtMagMeasTime[0]; + q1 = statesAtMagMeasTime[1]; + q2 = statesAtMagMeasTime[2]; + q3 = statesAtMagMeasTime[3]; + magN = statesAtMagMeasTime[16]; + magE = statesAtMagMeasTime[17]; + magD = statesAtMagMeasTime[18]; + magXbias = statesAtMagMeasTime[19]; + magYbias = statesAtMagMeasTime[20]; + magZbias = statesAtMagMeasTime[21]; + + // rotate predicted earth components into body axes and calculate + // predicted measurments + DCM.x.x = q0*q0 + q1*q1 - q2*q2 - q3*q3; + DCM.x.y = 2*(q1*q2 + q0*q3); + DCM.x.z = 2*(q1*q3-q0*q2); + DCM.y.x = 2*(q1*q2 - q0*q3); + DCM.y.y = q0*q0 - q1*q1 + q2*q2 - q3*q3; + DCM.y.z = 2*(q2*q3 + q0*q1); + DCM.z.x = 2*(q1*q3 + q0*q2); + DCM.z.y = 2*(q2*q3 - q0*q1); + DCM.z.z = q0*q0 - q1*q1 - q2*q2 + q3*q3; + MagPred[0] = DCM.x.x*magN + DCM.x.y*magE + DCM.x.z*magD + magXbias; + MagPred[1] = DCM.y.x*magN + DCM.y.y*magE + DCM.y.z*magD + magYbias; + MagPred[2] = DCM.z.x*magN + DCM.z.y*magE + DCM.z.z*magD + magZbias; + + // scale magnetometer observation error with total angular rate + R_MAG = sq(magMeasurementSigma) + sq(0.05f*dAngIMU.length()/dtIMU); + + // Calculate observation jacobians + SH_MAG[0] = 2*magD*q3 + 2*magE*q2 + 2*magN*q1; + SH_MAG[1] = 2*magD*q0 - 2*magE*q1 + 2*magN*q2; + SH_MAG[2] = 2*magD*q1 + 2*magE*q0 - 2*magN*q3; + SH_MAG[3] = sq(q3); + SH_MAG[4] = sq(q2); + SH_MAG[5] = sq(q1); + SH_MAG[6] = sq(q0); + SH_MAG[7] = 2*magN*q0; + SH_MAG[8] = 2*magE*q3; + + for (uint8_t i = 0; i < n_states; i++) H_MAG[i] = 0; + H_MAG[0] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2; + H_MAG[1] = SH_MAG[0]; + H_MAG[2] = 2*magE*q1 - 2*magD*q0 - 2*magN*q2; + H_MAG[3] = SH_MAG[2]; + H_MAG[16] = SH_MAG[5] - SH_MAG[4] - SH_MAG[3] + SH_MAG[6]; + H_MAG[17] = 2*q0*q3 + 2*q1*q2; + H_MAG[18] = 2*q1*q3 - 2*q0*q2; + H_MAG[19] = 1.0f; + + // Calculate Kalman gain + float temp = (P[19][19] + R_MAG + P[1][19]*SH_MAG[0] + P[3][19]*SH_MAG[2] - P[16][19]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) - (2*magD*q0 - 2*magE*q1 + 2*magN*q2)*(P[19][2] + P[1][2]*SH_MAG[0] + P[3][2]*SH_MAG[2] - P[16][2]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][2]*(2*q0*q3 + 2*q1*q2) - P[18][2]*(2*q0*q2 - 2*q1*q3) - P[2][2]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[19][0] + P[1][0]*SH_MAG[0] + P[3][0]*SH_MAG[2] - P[16][0]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][0]*(2*q0*q3 + 2*q1*q2) - P[18][0]*(2*q0*q2 - 2*q1*q3) - P[2][0]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[19][1] + P[1][1]*SH_MAG[0] + P[3][1]*SH_MAG[2] - P[16][1]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][1]*(2*q0*q3 + 2*q1*q2) - P[18][1]*(2*q0*q2 - 2*q1*q3) - P[2][1]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[2]*(P[19][3] + P[1][3]*SH_MAG[0] + P[3][3]*SH_MAG[2] - P[16][3]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][3]*(2*q0*q3 + 2*q1*q2) - P[18][3]*(2*q0*q2 - 2*q1*q3) - P[2][3]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6])*(P[19][16] + P[1][16]*SH_MAG[0] + P[3][16]*SH_MAG[2] - P[16][16]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][16]*(2*q0*q3 + 2*q1*q2) - P[18][16]*(2*q0*q2 - 2*q1*q3) - P[2][16]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[17][19]*(2*q0*q3 + 2*q1*q2) - P[18][19]*(2*q0*q2 - 2*q1*q3) - P[2][19]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + (2*q0*q3 + 2*q1*q2)*(P[19][17] + P[1][17]*SH_MAG[0] + P[3][17]*SH_MAG[2] - P[16][17]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][17]*(2*q0*q3 + 2*q1*q2) - P[18][17]*(2*q0*q2 - 2*q1*q3) - P[2][17]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q2 - 2*q1*q3)*(P[19][18] + P[1][18]*SH_MAG[0] + P[3][18]*SH_MAG[2] - P[16][18]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][18]*(2*q0*q3 + 2*q1*q2) - P[18][18]*(2*q0*q2 - 2*q1*q3) - P[2][18]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[0][19]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)); + if (temp >= R_MAG) { + SK_MX[0] = 1.0f / temp; + } else { + // the calculation is badly conditioned, so we cannot perform fusion on this step + // we increase the state variances and try again next time + P[19][19] += 0.1f*R_MAG; + obsIndex = 1; + return; + } + SK_MX[1] = SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]; + SK_MX[2] = 2*magD*q0 - 2*magE*q1 + 2*magN*q2; + SK_MX[3] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2; + SK_MX[4] = 2*q0*q2 - 2*q1*q3; + SK_MX[5] = 2*q0*q3 + 2*q1*q2; + Kfusion[0] = SK_MX[0]*(P[0][19] + P[0][1]*SH_MAG[0] + P[0][3]*SH_MAG[2] + P[0][0]*SK_MX[3] - P[0][2]*SK_MX[2] - P[0][16]*SK_MX[1] + P[0][17]*SK_MX[5] - P[0][18]*SK_MX[4]); + Kfusion[1] = SK_MX[0]*(P[1][19] + P[1][1]*SH_MAG[0] + P[1][3]*SH_MAG[2] + P[1][0]*SK_MX[3] - P[1][2]*SK_MX[2] - P[1][16]*SK_MX[1] + P[1][17]*SK_MX[5] - P[1][18]*SK_MX[4]); + Kfusion[2] = SK_MX[0]*(P[2][19] + P[2][1]*SH_MAG[0] + P[2][3]*SH_MAG[2] + P[2][0]*SK_MX[3] - P[2][2]*SK_MX[2] - P[2][16]*SK_MX[1] + P[2][17]*SK_MX[5] - P[2][18]*SK_MX[4]); + Kfusion[3] = SK_MX[0]*(P[3][19] + P[3][1]*SH_MAG[0] + P[3][3]*SH_MAG[2] + P[3][0]*SK_MX[3] - P[3][2]*SK_MX[2] - P[3][16]*SK_MX[1] + P[3][17]*SK_MX[5] - P[3][18]*SK_MX[4]); + Kfusion[4] = SK_MX[0]*(P[4][19] + P[4][1]*SH_MAG[0] + P[4][3]*SH_MAG[2] + P[4][0]*SK_MX[3] - P[4][2]*SK_MX[2] - P[4][16]*SK_MX[1] + P[4][17]*SK_MX[5] - P[4][18]*SK_MX[4]); + Kfusion[5] = SK_MX[0]*(P[5][19] + P[5][1]*SH_MAG[0] + P[5][3]*SH_MAG[2] + P[5][0]*SK_MX[3] - P[5][2]*SK_MX[2] - P[5][16]*SK_MX[1] + P[5][17]*SK_MX[5] - P[5][18]*SK_MX[4]); + Kfusion[6] = SK_MX[0]*(P[6][19] + P[6][1]*SH_MAG[0] + P[6][3]*SH_MAG[2] + P[6][0]*SK_MX[3] - P[6][2]*SK_MX[2] - P[6][16]*SK_MX[1] + P[6][17]*SK_MX[5] - P[6][18]*SK_MX[4]); + Kfusion[7] = SK_MX[0]*(P[7][19] + P[7][1]*SH_MAG[0] + P[7][3]*SH_MAG[2] + P[7][0]*SK_MX[3] - P[7][2]*SK_MX[2] - P[7][16]*SK_MX[1] + P[7][17]*SK_MX[5] - P[7][18]*SK_MX[4]); + Kfusion[8] = SK_MX[0]*(P[8][19] + P[8][1]*SH_MAG[0] + P[8][3]*SH_MAG[2] + P[8][0]*SK_MX[3] - P[8][2]*SK_MX[2] - P[8][16]*SK_MX[1] + P[8][17]*SK_MX[5] - P[8][18]*SK_MX[4]); + Kfusion[9] = SK_MX[0]*(P[9][19] + P[9][1]*SH_MAG[0] + P[9][3]*SH_MAG[2] + P[9][0]*SK_MX[3] - P[9][2]*SK_MX[2] - P[9][16]*SK_MX[1] + P[9][17]*SK_MX[5] - P[9][18]*SK_MX[4]); + Kfusion[10] = SK_MX[0]*(P[10][19] + P[10][1]*SH_MAG[0] + P[10][3]*SH_MAG[2] + P[10][0]*SK_MX[3] - P[10][2]*SK_MX[2] - P[10][16]*SK_MX[1] + P[10][17]*SK_MX[5] - P[10][18]*SK_MX[4]); + Kfusion[11] = SK_MX[0]*(P[11][19] + P[11][1]*SH_MAG[0] + P[11][3]*SH_MAG[2] + P[11][0]*SK_MX[3] - P[11][2]*SK_MX[2] - P[11][16]*SK_MX[1] + P[11][17]*SK_MX[5] - P[11][18]*SK_MX[4]); + Kfusion[12] = SK_MX[0]*(P[12][19] + P[12][1]*SH_MAG[0] + P[12][3]*SH_MAG[2] + P[12][0]*SK_MX[3] - P[12][2]*SK_MX[2] - P[12][16]*SK_MX[1] + P[12][17]*SK_MX[5] - P[12][18]*SK_MX[4]); + // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate + Kfusion[13] = 0.0f;//SK_MX[0]*(P[13][19] + P[13][1]*SH_MAG[0] + P[13][3]*SH_MAG[2] + P[13][0]*SK_MX[3] - P[13][2]*SK_MX[2] - P[13][16]*SK_MX[1] + P[13][17]*SK_MX[5] - P[13][18]*SK_MX[4]); + Kfusion[14] = SK_MX[0]*(P[14][19] + P[14][1]*SH_MAG[0] + P[14][3]*SH_MAG[2] + P[14][0]*SK_MX[3] - P[14][2]*SK_MX[2] - P[14][16]*SK_MX[1] + P[14][17]*SK_MX[5] - P[14][18]*SK_MX[4]); + Kfusion[15] = SK_MX[0]*(P[15][19] + P[15][1]*SH_MAG[0] + P[15][3]*SH_MAG[2] + P[15][0]*SK_MX[3] - P[15][2]*SK_MX[2] - P[15][16]*SK_MX[1] + P[15][17]*SK_MX[5] - P[15][18]*SK_MX[4]); + Kfusion[16] = SK_MX[0]*(P[16][19] + P[16][1]*SH_MAG[0] + P[16][3]*SH_MAG[2] + P[16][0]*SK_MX[3] - P[16][2]*SK_MX[2] - P[16][16]*SK_MX[1] + P[16][17]*SK_MX[5] - P[16][18]*SK_MX[4]); + Kfusion[17] = SK_MX[0]*(P[17][19] + P[17][1]*SH_MAG[0] + P[17][3]*SH_MAG[2] + P[17][0]*SK_MX[3] - P[17][2]*SK_MX[2] - P[17][16]*SK_MX[1] + P[17][17]*SK_MX[5] - P[17][18]*SK_MX[4]); + Kfusion[18] = SK_MX[0]*(P[18][19] + P[18][1]*SH_MAG[0] + P[18][3]*SH_MAG[2] + P[18][0]*SK_MX[3] - P[18][2]*SK_MX[2] - P[18][16]*SK_MX[1] + P[18][17]*SK_MX[5] - P[18][18]*SK_MX[4]); + Kfusion[19] = SK_MX[0]*(P[19][19] + P[19][1]*SH_MAG[0] + P[19][3]*SH_MAG[2] + P[19][0]*SK_MX[3] - P[19][2]*SK_MX[2] - P[19][16]*SK_MX[1] + P[19][17]*SK_MX[5] - P[19][18]*SK_MX[4]); + Kfusion[20] = SK_MX[0]*(P[20][19] + P[20][1]*SH_MAG[0] + P[20][3]*SH_MAG[2] + P[20][0]*SK_MX[3] - P[20][2]*SK_MX[2] - P[20][16]*SK_MX[1] + P[20][17]*SK_MX[5] - P[20][18]*SK_MX[4]); + Kfusion[21] = SK_MX[0]*(P[21][19] + P[21][1]*SH_MAG[0] + P[21][3]*SH_MAG[2] + P[21][0]*SK_MX[3] - P[21][2]*SK_MX[2] - P[21][16]*SK_MX[1] + P[21][17]*SK_MX[5] - P[21][18]*SK_MX[4]); + Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][1]*SH_MAG[0] + P[22][3]*SH_MAG[2] + P[22][0]*SK_MX[3] - P[22][2]*SK_MX[2] - P[22][16]*SK_MX[1] + P[22][17]*SK_MX[5] - P[22][18]*SK_MX[4]); + varInnovMag[0] = 1.0f/SK_MX[0]; + innovMag[0] = MagPred[0] - magData.x; + + // reset the observation index to 0 (we start by fusing the X + // measurement) + obsIndex = 0; + fuseMagData = false; + } + else if (obsIndex == 1) // we are now fusing the Y measurement + { + // Calculate observation jacobians + for (unsigned int i = 0; i < n_states; i++) H_MAG[i] = 0; + H_MAG[0] = SH_MAG[2]; + H_MAG[1] = SH_MAG[1]; + H_MAG[2] = SH_MAG[0]; + H_MAG[3] = 2*magD*q2 - SH_MAG[8] - SH_MAG[7]; + H_MAG[16] = 2*q1*q2 - 2*q0*q3; + H_MAG[17] = SH_MAG[4] - SH_MAG[3] - SH_MAG[5] + SH_MAG[6]; + H_MAG[18] = 2*q0*q1 + 2*q2*q3; + H_MAG[20] = 1; + + // Calculate Kalman gain + float temp = (P[20][20] + R_MAG + P[0][20]*SH_MAG[2] + P[1][20]*SH_MAG[1] + P[2][20]*SH_MAG[0] - P[17][20]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - (2*q0*q3 - 2*q1*q2)*(P[20][16] + P[0][16]*SH_MAG[2] + P[1][16]*SH_MAG[1] + P[2][16]*SH_MAG[0] - P[17][16]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][16]*(2*q0*q3 - 2*q1*q2) + P[18][16]*(2*q0*q1 + 2*q2*q3) - P[3][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (2*q0*q1 + 2*q2*q3)*(P[20][18] + P[0][18]*SH_MAG[2] + P[1][18]*SH_MAG[1] + P[2][18]*SH_MAG[0] - P[17][18]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][18]*(2*q0*q3 - 2*q1*q2) + P[18][18]*(2*q0*q1 + 2*q2*q3) - P[3][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[20][3] + P[0][3]*SH_MAG[2] + P[1][3]*SH_MAG[1] + P[2][3]*SH_MAG[0] - P[17][3]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][3]*(2*q0*q3 - 2*q1*q2) + P[18][3]*(2*q0*q1 + 2*q2*q3) - P[3][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[16][20]*(2*q0*q3 - 2*q1*q2) + P[18][20]*(2*q0*q1 + 2*q2*q3) + SH_MAG[2]*(P[20][0] + P[0][0]*SH_MAG[2] + P[1][0]*SH_MAG[1] + P[2][0]*SH_MAG[0] - P[17][0]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][0]*(2*q0*q3 - 2*q1*q2) + P[18][0]*(2*q0*q1 + 2*q2*q3) - P[3][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[20][1] + P[0][1]*SH_MAG[2] + P[1][1]*SH_MAG[1] + P[2][1]*SH_MAG[0] - P[17][1]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][1]*(2*q0*q3 - 2*q1*q2) + P[18][1]*(2*q0*q1 + 2*q2*q3) - P[3][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[20][2] + P[0][2]*SH_MAG[2] + P[1][2]*SH_MAG[1] + P[2][2]*SH_MAG[0] - P[17][2]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][2]*(2*q0*q3 - 2*q1*q2) + P[18][2]*(2*q0*q1 + 2*q2*q3) - P[3][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6])*(P[20][17] + P[0][17]*SH_MAG[2] + P[1][17]*SH_MAG[1] + P[2][17]*SH_MAG[0] - P[17][17]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][17]*(2*q0*q3 - 2*q1*q2) + P[18][17]*(2*q0*q1 + 2*q2*q3) - P[3][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[3][20]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)); + if (temp >= R_MAG) { + SK_MY[0] = 1.0f / temp; + } else { + // the calculation is badly conditioned, so we cannot perform fusion on this step + // we increase the state variances and try again next time + P[20][20] += 0.1f*R_MAG; + obsIndex = 2; + return; + } + SK_MY[1] = SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]; + SK_MY[2] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2; + SK_MY[3] = 2*q0*q3 - 2*q1*q2; + SK_MY[4] = 2*q0*q1 + 2*q2*q3; + Kfusion[0] = SK_MY[0]*(P[0][20] + P[0][0]*SH_MAG[2] + P[0][1]*SH_MAG[1] + P[0][2]*SH_MAG[0] - P[0][3]*SK_MY[2] - P[0][17]*SK_MY[1] - P[0][16]*SK_MY[3] + P[0][18]*SK_MY[4]); + Kfusion[1] = SK_MY[0]*(P[1][20] + P[1][0]*SH_MAG[2] + P[1][1]*SH_MAG[1] + P[1][2]*SH_MAG[0] - P[1][3]*SK_MY[2] - P[1][17]*SK_MY[1] - P[1][16]*SK_MY[3] + P[1][18]*SK_MY[4]); + Kfusion[2] = SK_MY[0]*(P[2][20] + P[2][0]*SH_MAG[2] + P[2][1]*SH_MAG[1] + P[2][2]*SH_MAG[0] - P[2][3]*SK_MY[2] - P[2][17]*SK_MY[1] - P[2][16]*SK_MY[3] + P[2][18]*SK_MY[4]); + Kfusion[3] = SK_MY[0]*(P[3][20] + P[3][0]*SH_MAG[2] + P[3][1]*SH_MAG[1] + P[3][2]*SH_MAG[0] - P[3][3]*SK_MY[2] - P[3][17]*SK_MY[1] - P[3][16]*SK_MY[3] + P[3][18]*SK_MY[4]); + Kfusion[4] = SK_MY[0]*(P[4][20] + P[4][0]*SH_MAG[2] + P[4][1]*SH_MAG[1] + P[4][2]*SH_MAG[0] - P[4][3]*SK_MY[2] - P[4][17]*SK_MY[1] - P[4][16]*SK_MY[3] + P[4][18]*SK_MY[4]); + Kfusion[5] = SK_MY[0]*(P[5][20] + P[5][0]*SH_MAG[2] + P[5][1]*SH_MAG[1] + P[5][2]*SH_MAG[0] - P[5][3]*SK_MY[2] - P[5][17]*SK_MY[1] - P[5][16]*SK_MY[3] + P[5][18]*SK_MY[4]); + Kfusion[6] = SK_MY[0]*(P[6][20] + P[6][0]*SH_MAG[2] + P[6][1]*SH_MAG[1] + P[6][2]*SH_MAG[0] - P[6][3]*SK_MY[2] - P[6][17]*SK_MY[1] - P[6][16]*SK_MY[3] + P[6][18]*SK_MY[4]); + Kfusion[7] = SK_MY[0]*(P[7][20] + P[7][0]*SH_MAG[2] + P[7][1]*SH_MAG[1] + P[7][2]*SH_MAG[0] - P[7][3]*SK_MY[2] - P[7][17]*SK_MY[1] - P[7][16]*SK_MY[3] + P[7][18]*SK_MY[4]); + Kfusion[8] = SK_MY[0]*(P[8][20] + P[8][0]*SH_MAG[2] + P[8][1]*SH_MAG[1] + P[8][2]*SH_MAG[0] - P[8][3]*SK_MY[2] - P[8][17]*SK_MY[1] - P[8][16]*SK_MY[3] + P[8][18]*SK_MY[4]); + Kfusion[9] = SK_MY[0]*(P[9][20] + P[9][0]*SH_MAG[2] + P[9][1]*SH_MAG[1] + P[9][2]*SH_MAG[0] - P[9][3]*SK_MY[2] - P[9][17]*SK_MY[1] - P[9][16]*SK_MY[3] + P[9][18]*SK_MY[4]); + Kfusion[10] = SK_MY[0]*(P[10][20] + P[10][0]*SH_MAG[2] + P[10][1]*SH_MAG[1] + P[10][2]*SH_MAG[0] - P[10][3]*SK_MY[2] - P[10][17]*SK_MY[1] - P[10][16]*SK_MY[3] + P[10][18]*SK_MY[4]); + Kfusion[11] = SK_MY[0]*(P[11][20] + P[11][0]*SH_MAG[2] + P[11][1]*SH_MAG[1] + P[11][2]*SH_MAG[0] - P[11][3]*SK_MY[2] - P[11][17]*SK_MY[1] - P[11][16]*SK_MY[3] + P[11][18]*SK_MY[4]); + Kfusion[12] = SK_MY[0]*(P[12][20] + P[12][0]*SH_MAG[2] + P[12][1]*SH_MAG[1] + P[12][2]*SH_MAG[0] - P[12][3]*SK_MY[2] - P[12][17]*SK_MY[1] - P[12][16]*SK_MY[3] + P[12][18]*SK_MY[4]); + // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate + Kfusion[13] = 0.0f;//SK_MY[0]*(P[13][20] + P[13][0]*SH_MAG[2] + P[13][1]*SH_MAG[1] + P[13][2]*SH_MAG[0] - P[13][3]*SK_MY[2] - P[13][17]*SK_MY[1] - P[13][16]*SK_MY[3] + P[13][18]*SK_MY[4]); + Kfusion[14] = SK_MY[0]*(P[14][20] + P[14][0]*SH_MAG[2] + P[14][1]*SH_MAG[1] + P[14][2]*SH_MAG[0] - P[14][3]*SK_MY[2] - P[14][17]*SK_MY[1] - P[14][16]*SK_MY[3] + P[14][18]*SK_MY[4]); + Kfusion[15] = SK_MY[0]*(P[15][20] + P[15][0]*SH_MAG[2] + P[15][1]*SH_MAG[1] + P[15][2]*SH_MAG[0] - P[15][3]*SK_MY[2] - P[15][17]*SK_MY[1] - P[15][16]*SK_MY[3] + P[15][18]*SK_MY[4]); + Kfusion[16] = SK_MY[0]*(P[16][20] + P[16][0]*SH_MAG[2] + P[16][1]*SH_MAG[1] + P[16][2]*SH_MAG[0] - P[16][3]*SK_MY[2] - P[16][17]*SK_MY[1] - P[16][16]*SK_MY[3] + P[16][18]*SK_MY[4]); + Kfusion[17] = SK_MY[0]*(P[17][20] + P[17][0]*SH_MAG[2] + P[17][1]*SH_MAG[1] + P[17][2]*SH_MAG[0] - P[17][3]*SK_MY[2] - P[17][17]*SK_MY[1] - P[17][16]*SK_MY[3] + P[17][18]*SK_MY[4]); + Kfusion[18] = SK_MY[0]*(P[18][20] + P[18][0]*SH_MAG[2] + P[18][1]*SH_MAG[1] + P[18][2]*SH_MAG[0] - P[18][3]*SK_MY[2] - P[18][17]*SK_MY[1] - P[18][16]*SK_MY[3] + P[18][18]*SK_MY[4]); + Kfusion[19] = SK_MY[0]*(P[19][20] + P[19][0]*SH_MAG[2] + P[19][1]*SH_MAG[1] + P[19][2]*SH_MAG[0] - P[19][3]*SK_MY[2] - P[19][17]*SK_MY[1] - P[19][16]*SK_MY[3] + P[19][18]*SK_MY[4]); + Kfusion[20] = SK_MY[0]*(P[20][20] + P[20][0]*SH_MAG[2] + P[20][1]*SH_MAG[1] + P[20][2]*SH_MAG[0] - P[20][3]*SK_MY[2] - P[20][17]*SK_MY[1] - P[20][16]*SK_MY[3] + P[20][18]*SK_MY[4]); + Kfusion[21] = SK_MY[0]*(P[21][20] + P[21][0]*SH_MAG[2] + P[21][1]*SH_MAG[1] + P[21][2]*SH_MAG[0] - P[21][3]*SK_MY[2] - P[21][17]*SK_MY[1] - P[21][16]*SK_MY[3] + P[21][18]*SK_MY[4]); + Kfusion[22] = SK_MY[0]*(P[22][20] + P[22][0]*SH_MAG[2] + P[22][1]*SH_MAG[1] + P[22][2]*SH_MAG[0] - P[22][3]*SK_MY[2] - P[22][17]*SK_MY[1] - P[22][16]*SK_MY[3] + P[22][18]*SK_MY[4]); + varInnovMag[1] = 1.0f/SK_MY[0]; + innovMag[1] = MagPred[1] - magData.y; + } + else if (obsIndex == 2) // we are now fusing the Z measurement + { + // Calculate observation jacobians + for (uint8_t i = 0; i < n_states; i++) H_MAG[i] = 0; + H_MAG[0] = SH_MAG[1]; + H_MAG[1] = 2*magN*q3 - 2*magE*q0 - 2*magD*q1; + H_MAG[2] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2; + H_MAG[3] = SH_MAG[0]; + H_MAG[16] = 2*q0*q2 + 2*q1*q3; + H_MAG[17] = 2*q2*q3 - 2*q0*q1; + H_MAG[18] = SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]; + H_MAG[21] = 1; + + // Calculate Kalman gain + float temp = (P[21][21] + R_MAG + P[0][21]*SH_MAG[1] + P[3][21]*SH_MAG[0] + P[18][21]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) - (2*magD*q1 + 2*magE*q0 - 2*magN*q3)*(P[21][1] + P[0][1]*SH_MAG[1] + P[3][1]*SH_MAG[0] + P[18][1]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][1]*(2*q0*q2 + 2*q1*q3) - P[17][1]*(2*q0*q1 - 2*q2*q3) - P[1][1]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[21][2] + P[0][2]*SH_MAG[1] + P[3][2]*SH_MAG[0] + P[18][2]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][2]*(2*q0*q2 + 2*q1*q3) - P[17][2]*(2*q0*q1 - 2*q2*q3) - P[1][2]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[21][0] + P[0][0]*SH_MAG[1] + P[3][0]*SH_MAG[0] + P[18][0]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][0]*(2*q0*q2 + 2*q1*q3) - P[17][0]*(2*q0*q1 - 2*q2*q3) - P[1][0]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[21][3] + P[0][3]*SH_MAG[1] + P[3][3]*SH_MAG[0] + P[18][3]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][3]*(2*q0*q2 + 2*q1*q3) - P[17][3]*(2*q0*q1 - 2*q2*q3) - P[1][3]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6])*(P[21][18] + P[0][18]*SH_MAG[1] + P[3][18]*SH_MAG[0] + P[18][18]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][18]*(2*q0*q2 + 2*q1*q3) - P[17][18]*(2*q0*q1 - 2*q2*q3) - P[1][18]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[16][21]*(2*q0*q2 + 2*q1*q3) - P[17][21]*(2*q0*q1 - 2*q2*q3) - P[1][21]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + (2*q0*q2 + 2*q1*q3)*(P[21][16] + P[0][16]*SH_MAG[1] + P[3][16]*SH_MAG[0] + P[18][16]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][16]*(2*q0*q2 + 2*q1*q3) - P[17][16]*(2*q0*q1 - 2*q2*q3) - P[1][16]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q1 - 2*q2*q3)*(P[21][17] + P[0][17]*SH_MAG[1] + P[3][17]*SH_MAG[0] + P[18][17]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][17]*(2*q0*q2 + 2*q1*q3) - P[17][17]*(2*q0*q1 - 2*q2*q3) - P[1][17]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[2][21]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)); + if (temp >= R_MAG) { + SK_MZ[0] = 1.0f / temp; + } else { + // the calculation is badly conditioned, so we cannot perform fusion on this step + // we increase the state variances and try again next time + P[21][21] += 0.1f*R_MAG; + obsIndex = 3; + return; + } + SK_MZ[1] = SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]; + SK_MZ[2] = 2*magD*q1 + 2*magE*q0 - 2*magN*q3; + SK_MZ[3] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2; + SK_MZ[4] = 2*q0*q1 - 2*q2*q3; + SK_MZ[5] = 2*q0*q2 + 2*q1*q3; + Kfusion[0] = SK_MZ[0]*(P[0][21] + P[0][0]*SH_MAG[1] + P[0][3]*SH_MAG[0] - P[0][1]*SK_MZ[2] + P[0][2]*SK_MZ[3] + P[0][18]*SK_MZ[1] + P[0][16]*SK_MZ[5] - P[0][17]*SK_MZ[4]); + Kfusion[1] = SK_MZ[0]*(P[1][21] + P[1][0]*SH_MAG[1] + P[1][3]*SH_MAG[0] - P[1][1]*SK_MZ[2] + P[1][2]*SK_MZ[3] + P[1][18]*SK_MZ[1] + P[1][16]*SK_MZ[5] - P[1][17]*SK_MZ[4]); + Kfusion[2] = SK_MZ[0]*(P[2][21] + P[2][0]*SH_MAG[1] + P[2][3]*SH_MAG[0] - P[2][1]*SK_MZ[2] + P[2][2]*SK_MZ[3] + P[2][18]*SK_MZ[1] + P[2][16]*SK_MZ[5] - P[2][17]*SK_MZ[4]); + Kfusion[3] = SK_MZ[0]*(P[3][21] + P[3][0]*SH_MAG[1] + P[3][3]*SH_MAG[0] - P[3][1]*SK_MZ[2] + P[3][2]*SK_MZ[3] + P[3][18]*SK_MZ[1] + P[3][16]*SK_MZ[5] - P[3][17]*SK_MZ[4]); + Kfusion[4] = SK_MZ[0]*(P[4][21] + P[4][0]*SH_MAG[1] + P[4][3]*SH_MAG[0] - P[4][1]*SK_MZ[2] + P[4][2]*SK_MZ[3] + P[4][18]*SK_MZ[1] + P[4][16]*SK_MZ[5] - P[4][17]*SK_MZ[4]); + Kfusion[5] = SK_MZ[0]*(P[5][21] + P[5][0]*SH_MAG[1] + P[5][3]*SH_MAG[0] - P[5][1]*SK_MZ[2] + P[5][2]*SK_MZ[3] + P[5][18]*SK_MZ[1] + P[5][16]*SK_MZ[5] - P[5][17]*SK_MZ[4]); + Kfusion[6] = SK_MZ[0]*(P[6][21] + P[6][0]*SH_MAG[1] + P[6][3]*SH_MAG[0] - P[6][1]*SK_MZ[2] + P[6][2]*SK_MZ[3] + P[6][18]*SK_MZ[1] + P[6][16]*SK_MZ[5] - P[6][17]*SK_MZ[4]); + Kfusion[7] = SK_MZ[0]*(P[7][21] + P[7][0]*SH_MAG[1] + P[7][3]*SH_MAG[0] - P[7][1]*SK_MZ[2] + P[7][2]*SK_MZ[3] + P[7][18]*SK_MZ[1] + P[7][16]*SK_MZ[5] - P[7][17]*SK_MZ[4]); + Kfusion[8] = SK_MZ[0]*(P[8][21] + P[8][0]*SH_MAG[1] + P[8][3]*SH_MAG[0] - P[8][1]*SK_MZ[2] + P[8][2]*SK_MZ[3] + P[8][18]*SK_MZ[1] + P[8][16]*SK_MZ[5] - P[8][17]*SK_MZ[4]); + Kfusion[9] = SK_MZ[0]*(P[9][21] + P[9][0]*SH_MAG[1] + P[9][3]*SH_MAG[0] - P[9][1]*SK_MZ[2] + P[9][2]*SK_MZ[3] + P[9][18]*SK_MZ[1] + P[9][16]*SK_MZ[5] - P[9][17]*SK_MZ[4]); + Kfusion[10] = SK_MZ[0]*(P[10][21] + P[10][0]*SH_MAG[1] + P[10][3]*SH_MAG[0] - P[10][1]*SK_MZ[2] + P[10][2]*SK_MZ[3] + P[10][18]*SK_MZ[1] + P[10][16]*SK_MZ[5] - P[10][17]*SK_MZ[4]); + Kfusion[11] = SK_MZ[0]*(P[11][21] + P[11][0]*SH_MAG[1] + P[11][3]*SH_MAG[0] - P[11][1]*SK_MZ[2] + P[11][2]*SK_MZ[3] + P[11][18]*SK_MZ[1] + P[11][16]*SK_MZ[5] - P[11][17]*SK_MZ[4]); + Kfusion[12] = SK_MZ[0]*(P[12][21] + P[12][0]*SH_MAG[1] + P[12][3]*SH_MAG[0] - P[12][1]*SK_MZ[2] + P[12][2]*SK_MZ[3] + P[12][18]*SK_MZ[1] + P[12][16]*SK_MZ[5] - P[12][17]*SK_MZ[4]); + // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate + Kfusion[13] = 0.0f;//SK_MZ[0]*(P[13][21] + P[13][0]*SH_MAG[1] + P[13][3]*SH_MAG[0] - P[13][1]*SK_MZ[2] + P[13][2]*SK_MZ[3] + P[13][18]*SK_MZ[1] + P[13][16]*SK_MZ[5] - P[13][17]*SK_MZ[4]); + Kfusion[14] = SK_MZ[0]*(P[14][21] + P[14][0]*SH_MAG[1] + P[14][3]*SH_MAG[0] - P[14][1]*SK_MZ[2] + P[14][2]*SK_MZ[3] + P[14][18]*SK_MZ[1] + P[14][16]*SK_MZ[5] - P[14][17]*SK_MZ[4]); + Kfusion[15] = SK_MZ[0]*(P[15][21] + P[15][0]*SH_MAG[1] + P[15][3]*SH_MAG[0] - P[15][1]*SK_MZ[2] + P[15][2]*SK_MZ[3] + P[15][18]*SK_MZ[1] + P[15][16]*SK_MZ[5] - P[15][17]*SK_MZ[4]); + Kfusion[16] = SK_MZ[0]*(P[16][21] + P[16][0]*SH_MAG[1] + P[16][3]*SH_MAG[0] - P[16][1]*SK_MZ[2] + P[16][2]*SK_MZ[3] + P[16][18]*SK_MZ[1] + P[16][16]*SK_MZ[5] - P[16][17]*SK_MZ[4]); + Kfusion[17] = SK_MZ[0]*(P[17][21] + P[17][0]*SH_MAG[1] + P[17][3]*SH_MAG[0] - P[17][1]*SK_MZ[2] + P[17][2]*SK_MZ[3] + P[17][18]*SK_MZ[1] + P[17][16]*SK_MZ[5] - P[17][17]*SK_MZ[4]); + Kfusion[18] = SK_MZ[0]*(P[18][21] + P[18][0]*SH_MAG[1] + P[18][3]*SH_MAG[0] - P[18][1]*SK_MZ[2] + P[18][2]*SK_MZ[3] + P[18][18]*SK_MZ[1] + P[18][16]*SK_MZ[5] - P[18][17]*SK_MZ[4]); + Kfusion[19] = SK_MZ[0]*(P[19][21] + P[19][0]*SH_MAG[1] + P[19][3]*SH_MAG[0] - P[19][1]*SK_MZ[2] + P[19][2]*SK_MZ[3] + P[19][18]*SK_MZ[1] + P[19][16]*SK_MZ[5] - P[19][17]*SK_MZ[4]); + Kfusion[20] = SK_MZ[0]*(P[20][21] + P[20][0]*SH_MAG[1] + P[20][3]*SH_MAG[0] - P[20][1]*SK_MZ[2] + P[20][2]*SK_MZ[3] + P[20][18]*SK_MZ[1] + P[20][16]*SK_MZ[5] - P[20][17]*SK_MZ[4]); + Kfusion[21] = SK_MZ[0]*(P[21][21] + P[21][0]*SH_MAG[1] + P[21][3]*SH_MAG[0] - P[21][1]*SK_MZ[2] + P[21][2]*SK_MZ[3] + P[21][18]*SK_MZ[1] + P[21][16]*SK_MZ[5] - P[21][17]*SK_MZ[4]); + Kfusion[22] = SK_MZ[0]*(P[22][21] + P[22][0]*SH_MAG[1] + P[22][3]*SH_MAG[0] - P[22][1]*SK_MZ[2] + P[22][2]*SK_MZ[3] + P[22][18]*SK_MZ[1] + P[22][16]*SK_MZ[5] - P[22][17]*SK_MZ[4]); + varInnovMag[2] = 1.0f/SK_MZ[0]; + innovMag[2] = MagPred[2] - magData.z; + + } + + // Check the innovation for consistency and don't fuse if > 5Sigma + if ((innovMag[obsIndex]*innovMag[obsIndex]/varInnovMag[obsIndex]) < 25.0) + { + // correct the state vector + for (uint8_t j= 0; j < indexLimit; j++) + { + states[j] = states[j] - Kfusion[j] * innovMag[obsIndex]; + } + // normalise the quaternion states + float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]); + if (quatMag > 1e-12) + { + for (uint8_t j= 0; j<=3; j++) + { + float quatMagInv = 1.0f/quatMag; + states[j] = states[j] * quatMagInv; + } + } + // correct the covariance P = (I - K*H)*P + // take advantage of the empty columns in KH to reduce the + // number of operations + for (uint8_t i = 0; i < indexLimit; i++) + { + for (uint8_t j = 0; j <= 3; j++) + { + KH[i][j] = Kfusion[i] * H_MAG[j]; + } + for (uint8_t j = 4; j <= 15; j++) KH[i][j] = 0.0f; + if (!onGround) + { + for (uint8_t j = 16; j <= 21; j++) + { + KH[i][j] = Kfusion[i] * H_MAG[j]; + } + } + else + { + for (uint8_t j = 16; j <= 21; j++) + { + KH[i][j] = 0.0f; + } + } + } + for (uint8_t i = 0; i < indexLimit; i++) + { + for (uint8_t j = 0; j < indexLimit; j++) + { + KHP[i][j] = 0.0f; + for (uint8_t k = 0; k <= 3; k++) + { + KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; + } + if (!onGround) + { + for (uint8_t k = 16; k<=21; k++) + { + KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; + } + } + } + } + } + for (uint8_t i = 0; i < indexLimit; i++) + { + for (uint8_t j = 0; j < indexLimit; j++) + { + P[i][j] = P[i][j] - KHP[i][j]; + } + } + } + obsIndex = obsIndex + 1; + + ForceSymmetry(); + ConstrainVariances(); +} + +void AttPosEKF::FuseAirspeed() +{ + float vn; + float ve; + float vd; + float vwn; + float vwe; + float R_TAS = sq(airspeedMeasurementSigma); + float SH_TAS[3]; + float SK_TAS; + float VtasPred; + + // Copy required states to local variable names + vn = statesAtVtasMeasTime[4]; + ve = statesAtVtasMeasTime[5]; + vd = statesAtVtasMeasTime[6]; + vwn = statesAtVtasMeasTime[14]; + vwe = statesAtVtasMeasTime[15]; + + // Need to check that it is flying before fusing airspeed data + // Calculate the predicted airspeed + VtasPred = sqrtf((ve - vwe)*(ve - vwe) + (vn - vwn)*(vn - vwn) + vd*vd); + // Perform fusion of True Airspeed measurement + if (useAirspeed && fuseVtasData && (VtasPred > 1.0f) && (VtasMeas > 8.0f)) + { + // Calculate observation jacobians + SH_TAS[0] = 1/(sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd))); + SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2*vwe))/2.0f; + SH_TAS[2] = (SH_TAS[0]*(2.0f*vn - 2*vwn))/2.0f; + + float H_TAS[n_states]; + for (uint8_t i = 0; i < n_states; i++) H_TAS[i] = 0.0f; + H_TAS[4] = SH_TAS[2]; + H_TAS[5] = SH_TAS[1]; + H_TAS[6] = vd*SH_TAS[0]; + H_TAS[14] = -SH_TAS[2]; + H_TAS[15] = -SH_TAS[1]; + + // Calculate Kalman gains + float temp = (R_TAS + SH_TAS[2]*(P[4][4]*SH_TAS[2] + P[5][4]*SH_TAS[1] - P[14][4]*SH_TAS[2] - P[15][4]*SH_TAS[1] + P[6][4]*vd*SH_TAS[0]) + SH_TAS[1]*(P[4][5]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[14][5]*SH_TAS[2] - P[15][5]*SH_TAS[1] + P[6][5]*vd*SH_TAS[0]) - SH_TAS[2]*(P[4][14]*SH_TAS[2] + P[5][14]*SH_TAS[1] - P[14][14]*SH_TAS[2] - P[15][14]*SH_TAS[1] + P[6][14]*vd*SH_TAS[0]) - SH_TAS[1]*(P[4][15]*SH_TAS[2] + P[5][15]*SH_TAS[1] - P[14][15]*SH_TAS[2] - P[15][15]*SH_TAS[1] + P[6][15]*vd*SH_TAS[0]) + vd*SH_TAS[0]*(P[4][6]*SH_TAS[2] + P[5][6]*SH_TAS[1] - P[14][6]*SH_TAS[2] - P[15][6]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0])); + if (temp >= R_TAS) { + SK_TAS = 1.0f / temp; + } else { + // the calculation is badly conditioned, so we cannot perform fusion on this step + // we increase the wind state variances and try again next time + P[14][14] += 0.05f*R_TAS; + P[15][15] += 0.05f*R_TAS; + return; + } + Kfusion[0] = SK_TAS*(P[0][4]*SH_TAS[2] - P[0][14]*SH_TAS[2] + P[0][5]*SH_TAS[1] - P[0][15]*SH_TAS[1] + P[0][6]*vd*SH_TAS[0]); + Kfusion[1] = SK_TAS*(P[1][4]*SH_TAS[2] - P[1][14]*SH_TAS[2] + P[1][5]*SH_TAS[1] - P[1][15]*SH_TAS[1] + P[1][6]*vd*SH_TAS[0]); + Kfusion[2] = SK_TAS*(P[2][4]*SH_TAS[2] - P[2][14]*SH_TAS[2] + P[2][5]*SH_TAS[1] - P[2][15]*SH_TAS[1] + P[2][6]*vd*SH_TAS[0]); + Kfusion[3] = SK_TAS*(P[3][4]*SH_TAS[2] - P[3][14]*SH_TAS[2] + P[3][5]*SH_TAS[1] - P[3][15]*SH_TAS[1] + P[3][6]*vd*SH_TAS[0]); + Kfusion[4] = SK_TAS*(P[4][4]*SH_TAS[2] - P[4][14]*SH_TAS[2] + P[4][5]*SH_TAS[1] - P[4][15]*SH_TAS[1] + P[4][6]*vd*SH_TAS[0]); + Kfusion[5] = SK_TAS*(P[5][4]*SH_TAS[2] - P[5][14]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[5][15]*SH_TAS[1] + P[5][6]*vd*SH_TAS[0]); + Kfusion[6] = SK_TAS*(P[6][4]*SH_TAS[2] - P[6][14]*SH_TAS[2] + P[6][5]*SH_TAS[1] - P[6][15]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0]); + Kfusion[7] = SK_TAS*(P[7][4]*SH_TAS[2] - P[7][14]*SH_TAS[2] + P[7][5]*SH_TAS[1] - P[7][15]*SH_TAS[1] + P[7][6]*vd*SH_TAS[0]); + Kfusion[8] = SK_TAS*(P[8][4]*SH_TAS[2] - P[8][14]*SH_TAS[2] + P[8][5]*SH_TAS[1] - P[8][15]*SH_TAS[1] + P[8][6]*vd*SH_TAS[0]); + Kfusion[9] = SK_TAS*(P[9][4]*SH_TAS[2] - P[9][14]*SH_TAS[2] + P[9][5]*SH_TAS[1] - P[9][15]*SH_TAS[1] + P[9][6]*vd*SH_TAS[0]); + Kfusion[10] = SK_TAS*(P[10][4]*SH_TAS[2] - P[10][14]*SH_TAS[2] + P[10][5]*SH_TAS[1] - P[10][15]*SH_TAS[1] + P[10][6]*vd*SH_TAS[0]); + Kfusion[11] = SK_TAS*(P[11][4]*SH_TAS[2] - P[11][14]*SH_TAS[2] + P[11][5]*SH_TAS[1] - P[11][15]*SH_TAS[1] + P[11][6]*vd*SH_TAS[0]); + Kfusion[12] = SK_TAS*(P[12][4]*SH_TAS[2] - P[12][14]*SH_TAS[2] + P[12][5]*SH_TAS[1] - P[12][15]*SH_TAS[1] + P[12][6]*vd*SH_TAS[0]); + // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate + Kfusion[13] = 0.0f;//SK_TAS*(P[13][4]*SH_TAS[2] - P[13][14]*SH_TAS[2] + P[13][5]*SH_TAS[1] - P[13][15]*SH_TAS[1] + P[13][6]*vd*SH_TAS[0]); + Kfusion[14] = SK_TAS*(P[14][4]*SH_TAS[2] - P[14][14]*SH_TAS[2] + P[14][5]*SH_TAS[1] - P[14][15]*SH_TAS[1] + P[14][6]*vd*SH_TAS[0]); + Kfusion[15] = SK_TAS*(P[15][4]*SH_TAS[2] - P[15][14]*SH_TAS[2] + P[15][5]*SH_TAS[1] - P[15][15]*SH_TAS[1] + P[15][6]*vd*SH_TAS[0]); + Kfusion[16] = SK_TAS*(P[16][4]*SH_TAS[2] - P[16][14]*SH_TAS[2] + P[16][5]*SH_TAS[1] - P[16][15]*SH_TAS[1] + P[16][6]*vd*SH_TAS[0]); + Kfusion[17] = SK_TAS*(P[17][4]*SH_TAS[2] - P[17][14]*SH_TAS[2] + P[17][5]*SH_TAS[1] - P[17][15]*SH_TAS[1] + P[17][6]*vd*SH_TAS[0]); + Kfusion[18] = SK_TAS*(P[18][4]*SH_TAS[2] - P[18][14]*SH_TAS[2] + P[18][5]*SH_TAS[1] - P[18][15]*SH_TAS[1] + P[18][6]*vd*SH_TAS[0]); + Kfusion[19] = SK_TAS*(P[19][4]*SH_TAS[2] - P[19][14]*SH_TAS[2] + P[19][5]*SH_TAS[1] - P[19][15]*SH_TAS[1] + P[19][6]*vd*SH_TAS[0]); + Kfusion[20] = SK_TAS*(P[20][4]*SH_TAS[2] - P[20][14]*SH_TAS[2] + P[20][5]*SH_TAS[1] - P[20][15]*SH_TAS[1] + P[20][6]*vd*SH_TAS[0]); + Kfusion[21] = SK_TAS*(P[21][4]*SH_TAS[2] - P[21][14]*SH_TAS[2] + P[21][5]*SH_TAS[1] - P[21][15]*SH_TAS[1] + P[21][6]*vd*SH_TAS[0]); + Kfusion[22] = SK_TAS*(P[22][4]*SH_TAS[2] - P[22][14]*SH_TAS[2] + P[22][5]*SH_TAS[1] - P[22][15]*SH_TAS[1] + P[22][6]*vd*SH_TAS[0]); + varInnovVtas = 1.0f/SK_TAS; + + // Calculate the measurement innovation + innovVtas = VtasPred - VtasMeas; + // Check the innovation for consistency and don't fuse if > 5Sigma + if ((innovVtas*innovVtas*SK_TAS) < 25.0) + { + // correct the state vector + for (uint8_t j=0; j <= 22; j++) + { + states[j] = states[j] - Kfusion[j] * innovVtas; + } + // normalise the quaternion states + float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]); + if (quatMag > 1e-12f) + { + for (uint8_t j= 0; j <= 3; j++) + { + float quatMagInv = 1.0f/quatMag; + states[j] = states[j] * quatMagInv; + } + } + // correct the covariance P = (I - K*H)*P + // take advantage of the empty columns in H to reduce the + // number of operations + for (uint8_t i = 0; i <= 22; i++) + { + for (uint8_t j = 0; j <= 3; j++) KH[i][j] = 0.0; + for (uint8_t j = 4; j <= 6; j++) + { + KH[i][j] = Kfusion[i] * H_TAS[j]; + } + for (uint8_t j = 7; j <= 13; j++) KH[i][j] = 0.0; + for (uint8_t j = 14; j <= 15; j++) + { + KH[i][j] = Kfusion[i] * H_TAS[j]; + } + for (uint8_t j = 16; j <= 22; j++) KH[i][j] = 0.0; + } + for (uint8_t i = 0; i <= 22; i++) + { + for (uint8_t j = 0; j <= 22; j++) + { + KHP[i][j] = 0.0; + for (uint8_t k = 4; k <= 6; k++) + { + KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; + } + for (uint8_t k = 14; k <= 15; k++) + { + KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; + } + } + } + for (uint8_t i = 0; i <= 22; i++) + { + for (uint8_t j = 0; j <= 22; j++) + { + P[i][j] = P[i][j] - KHP[i][j]; + } + } + } + } + + ForceSymmetry(); + ConstrainVariances(); +} + +void AttPosEKF::zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last) +{ + uint8_t row; + uint8_t col; + for (row=first; row<=last; row++) + { + for (col=0; col 0.87f) + { + // Calculate observation jacobian and Kalman gain ignoring all states other than the terrain offset + // This prevents the range finder measurement modifying any of the other filter states and significantly reduces computations + SH_RNG[0] = SH_RNG[4]*(2*q0*q2 - 2*q1*q3) - sq(q0) + sq(q1) + sq(q2) - sq(q3); + SH_RNG[1] = pd - ptd; + SH_RNG[2] = 1/sq(SH_RNG[0]); + SH_RNG[3] = 1/SH_RNG[0]; + for (uint8_t i = 0; i < n_states; i++) { + H_RNG[i] = 0.0f; + Kfusion[i] = 0.0f; + } + H_RNG[22] = -SH_RNG[3]; + SK_RNG[0] = 1/(R_RNG + SH_RNG[3]*(P[9][9]*SH_RNG[3] - P[22][9]*SH_RNG[3] + P[0][9]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][9]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][9]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][9]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) - SH_RNG[3]*(P[9][22]*SH_RNG[3] - P[22][22]*SH_RNG[3] + P[0][22]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][22]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][22]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][22]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) + SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4])*(P[9][0]*SH_RNG[3] - P[22][0]*SH_RNG[3] + P[0][0]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][0]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][0]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][0]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) - SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4])*(P[9][1]*SH_RNG[3] - P[22][1]*SH_RNG[3] + P[0][1]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][1]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][1]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][1]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) - SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4])*(P[9][2]*SH_RNG[3] - P[22][2]*SH_RNG[3] + P[0][2]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][2]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][2]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][2]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) + SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])*(P[9][3]*SH_RNG[3] - P[22][3]*SH_RNG[3] + P[0][3]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][3]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][3]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][3]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4]))); + SK_RNG[1] = 2*q1 - 2*q3*SH_RNG[4]; + SK_RNG[2] = 2*q0 - 2*q2*SH_RNG[4]; + SK_RNG[3] = 2*q3 + 2*q1*SH_RNG[4]; + SK_RNG[4] = 2*q2 + 2*q0*SH_RNG[4]; + SK_RNG[5] = SH_RNG[2]; + Kfusion[22] = SK_RNG[0]*(P[22][9]*SH_RNG[3] - P[22][22]*SH_RNG[3] + P[22][0]*SH_RNG[1]*SK_RNG[2]*SK_RNG[5] - P[22][1]*SH_RNG[1]*SK_RNG[1]*SK_RNG[5] - P[22][2]*SH_RNG[1]*SK_RNG[4]*SK_RNG[5] + P[22][3]*SH_RNG[1]*SK_RNG[3]*SK_RNG[5]); + + // Calculate the measurement innovation + rngPred = (ptd - pd)/cosRngTilt; + innovRng = rngPred - rngMea; + //printf("mea=%5.1f, pred=%5.1f, pd=%5.1f, ptd=%5.2f\n", rngMea, rngPred, pd, ptd); + + // Check the innovation for consistency and don't fuse if > 5Sigma + if ((innovRng*innovRng*SK_RNG[0]) < 25) + { + // correct the state vector + states[22] = states[22] - Kfusion[22] * innovRng; + + // correct the covariance P = (I - K*H)*P + P[22][22] = P[22][22] - Kfusion[22] * H_RNG[22] * P[22][22]; + P[22][22] = ConstrainFloat(P[22][22], 0.0f, 10000.0f); + } + } + +} + +void AttPosEKF::zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last) +{ + uint8_t row; + uint8_t col; + for (col=first; col<=last; col++) + { + for (row=0; row < n_states; row++) + { + covMat[row][col] = 0.0; + } + } +} + +float AttPosEKF::sq(float valIn) +{ + return valIn*valIn; +} + +// Store states in a history array along with time stamp +void AttPosEKF::StoreStates(uint64_t timestamp_ms) +{ + for (unsigned i=0; i statetimeStamp[storeIndex]) { + timeDelta = msec - statetimeStamp[storeIndex]; + } else { + timeDelta = statetimeStamp[storeIndex] - msec; + } + + if (timeDelta < bestTimeDelta) + { + bestStoreIndex = storeIndex; + bestTimeDelta = timeDelta; + } + } + if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error + { + for (unsigned i=0; i < n_states; i++) { + if (isfinite(storedStates[i][bestStoreIndex])) { + statesForFusion[i] = storedStates[i][bestStoreIndex]; + } else if (isfinite(states[i])) { + statesForFusion[i] = states[i]; + } else { + // There is not much we can do here, except reporting the error we just + // found. + ret++; + } + } + } + else // otherwise output current state + { + for (unsigned i = 0; i < n_states; i++) { + if (isfinite(states[i])) { + statesForFusion[i] = states[i]; + } else { + ret++; + } + } + } + + return ret; +} + +void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4]) +{ + // Calculate the nav to body cosine matrix + float q00 = sq(quat[0]); + float q11 = sq(quat[1]); + float q22 = sq(quat[2]); + float q33 = sq(quat[3]); + float q01 = quat[0]*quat[1]; + float q02 = quat[0]*quat[2]; + float q03 = quat[0]*quat[3]; + float q12 = quat[1]*quat[2]; + float q13 = quat[1]*quat[3]; + float q23 = quat[2]*quat[3]; + + Tnb.x.x = q00 + q11 - q22 - q33; + Tnb.y.y = q00 - q11 + q22 - q33; + Tnb.z.z = q00 - q11 - q22 + q33; + Tnb.y.x = 2*(q12 - q03); + Tnb.z.x = 2*(q13 + q02); + Tnb.x.y = 2*(q12 + q03); + Tnb.z.y = 2*(q23 - q01); + Tnb.x.z = 2*(q13 - q02); + Tnb.y.z = 2*(q23 + q01); +} + +void AttPosEKF::quat2Tbn(Mat3f &Tbn, const float (&quat)[4]) +{ + // Calculate the body to nav cosine matrix + float q00 = sq(quat[0]); + float q11 = sq(quat[1]); + float q22 = sq(quat[2]); + float q33 = sq(quat[3]); + float q01 = quat[0]*quat[1]; + float q02 = quat[0]*quat[2]; + float q03 = quat[0]*quat[3]; + float q12 = quat[1]*quat[2]; + float q13 = quat[1]*quat[3]; + float q23 = quat[2]*quat[3]; + + Tbn.x.x = q00 + q11 - q22 - q33; + Tbn.y.y = q00 - q11 + q22 - q33; + Tbn.z.z = q00 - q11 - q22 + q33; + Tbn.x.y = 2*(q12 - q03); + Tbn.x.z = 2*(q13 + q02); + Tbn.y.x = 2*(q12 + q03); + Tbn.y.z = 2*(q23 - q01); + Tbn.z.x = 2*(q13 - q02); + Tbn.z.y = 2*(q23 + q01); +} + +void AttPosEKF::eul2quat(float (&quat)[4], const float (&eul)[3]) +{ + float u1 = cos(0.5f*eul[0]); + float u2 = cos(0.5f*eul[1]); + float u3 = cos(0.5f*eul[2]); + float u4 = sin(0.5f*eul[0]); + float u5 = sin(0.5f*eul[1]); + float u6 = sin(0.5f*eul[2]); + quat[0] = u1*u2*u3+u4*u5*u6; + quat[1] = u4*u2*u3-u1*u5*u6; + quat[2] = u1*u5*u3+u4*u2*u6; + quat[3] = u1*u2*u6-u4*u5*u3; +} + +void AttPosEKF::quat2eul(float (&y)[3], const float (&u)[4]) +{ + y[0] = atan2f((2.0f*(u[2]*u[3]+u[0]*u[1])) , (u[0]*u[0]-u[1]*u[1]-u[2]*u[2]+u[3]*u[3])); + y[1] = -asinf(2.0f*(u[1]*u[3]-u[0]*u[2])); + y[2] = atan2f((2.0f*(u[1]*u[2]+u[0]*u[3])) , (u[0]*u[0]+u[1]*u[1]-u[2]*u[2]-u[3]*u[3])); +} + +void AttPosEKF::calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD) +{ + velNED[0] = gpsGndSpd*cosf(gpsCourse); + velNED[1] = gpsGndSpd*sinf(gpsCourse); + velNED[2] = gpsVelD; +} + +void AttPosEKF::calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef) +{ + posNED[0] = earthRadius * (lat - latRef); + posNED[1] = earthRadius * cos(latRef) * (lon - lonRef); + posNED[2] = -(hgt - hgtRef); +} + +void AttPosEKF::calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef) +{ + lat = latRef + posNED[0] * earthRadiusInv; + lon = lonRef + posNED[1] * earthRadiusInv / cos(latRef); + hgt = hgtRef - posNED[2]; +} + +void AttPosEKF::OnGroundCheck() +{ + onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 6.0f)); + if (staticMode) { + staticMode = (!refSet || (GPSstatus < GPS_FIX_3D)); + } +} + +void AttPosEKF::calcEarthRateNED(Vector3f &omega, float latitude) +{ + //Define Earth rotation vector in the NED navigation frame + omega.x = earthRate*cosf(latitude); + omega.y = 0.0f; + omega.z = -earthRate*sinf(latitude); +} + +void AttPosEKF::CovarianceInit() +{ + // Calculate the initial covariance matrix P + P[0][0] = 0.25f * sq(1.0f*deg2rad); + P[1][1] = 0.25f * sq(1.0f*deg2rad); + P[2][2] = 0.25f * sq(1.0f*deg2rad); + P[3][3] = 0.25f * sq(10.0f*deg2rad); + P[4][4] = sq(0.7f); + P[5][5] = P[4][4]; + P[6][6] = sq(0.7f); + P[7][7] = sq(15.0f); + P[8][8] = P[7][7]; + P[9][9] = sq(5.0f); + P[10][10] = sq(0.1f*deg2rad*dtIMU); + P[11][11] = P[10][10]; + P[12][12] = P[10][10]; + P[13][13] = sq(0.2f*dtIMU); + P[14][14] = sq(8.0f); + P[15][14] = P[14][14]; + P[16][16] = sq(0.02f); + P[17][17] = P[16][16]; + P[18][18] = P[16][16]; + P[19][19] = sq(0.02f); + P[20][20] = P[19][19]; + P[21][21] = P[19][19]; + P[22][22] = sq(0.5f); +} + +float AttPosEKF::ConstrainFloat(float val, float min, float max) +{ + float ret; + if (val > max) { + ret = max; + ekf_debug("> max: %8.4f, val: %8.4f", max, val); + } else if (val < min) { + ret = min; + ekf_debug("< min: %8.4f, val: %8.4f", min, val); + } else { + ret = val; + } + + if (!isfinite(val)) { + ekf_debug("constrain: non-finite!"); + } + + return ret; +} + +void AttPosEKF::ConstrainVariances() +{ + if (!numericalProtection) { + return; + } + + // State vector: + // 0-3: quaternions (q0, q1, q2, q3) + // 4-6: Velocity - m/sec (North, East, Down) + // 7-9: Position - m (North, East, Down) + // 10-12: Delta Angle bias - rad (X,Y,Z) + // 13: Delta Velocity bias - m/s (Z) + // 14-15: Wind Vector - m/sec (North,East) + // 16-18: Earth Magnetic Field Vector - gauss (North, East, Down) + // 19-21: Body Magnetic Field Vector - gauss (X,Y,Z) + // 22: Terrain offset - m + + // Constrain quaternion variances + for (unsigned i = 0; i <= 3; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f); + } + + // Constrain velocity variances + for (unsigned i = 4; i <= 6; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e3f); + } + + // Constrain position variances + for (unsigned i = 7; i <= 9; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e6f); + } + + // Constrain delta angle bias variances + for (unsigned i = 10; i <= 12; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, sq(0.12f * dtIMU)); + } + + // Constrain delta velocity bias variance + P[13][13] = ConstrainFloat(P[13][13], 0.0f, sq(1.0f * dtIMU)); + + // Wind velocity variances + for (unsigned i = 14; i <= 15; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e3f); + } + + // Earth magnetic field variances + for (unsigned i = 16; i <= 18; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f); + } + + // Body magnetic field variances + for (unsigned i = 19; i <= 21; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f); + } + + // Constrain terrain offset variance + P[22][22] = ConstrainFloat(P[22][22], 0.0f, 10000.0f); +} + +void AttPosEKF::ConstrainStates() +{ + if (!numericalProtection) { + return; + } + + // State vector: + // 0-3: quaternions (q0, q1, q2, q3) + // 4-6: Velocity - m/sec (North, East, Down) + // 7-9: Position - m (North, East, Down) + // 10-12: Delta Angle bias - rad (X,Y,Z) + // 13: Delta Velocity bias - m/s (Z) + // 14-15: Wind Vector - m/sec (North,East) + // 16-18: Earth Magnetic Field Vector - gauss (North, East, Down) + // 19-21: Body Magnetic Field Vector - gauss (X,Y,Z) + // 22: Terrain offset - m + + // Constrain quaternion + for (unsigned i = 0; i <= 3; i++) { + states[i] = ConstrainFloat(states[i], -1.0f, 1.0f); + } + + // Constrain velocities to what GPS can do for us + for (unsigned i = 4; i <= 6; i++) { + states[i] = ConstrainFloat(states[i], -5.0e2f, 5.0e2f); + } + + // Constrain position to a reasonable vehicle range (in meters) + for (unsigned i = 7; i <= 8; i++) { + states[i] = ConstrainFloat(states[i], -1.0e6f, 1.0e6f); + } + + // Constrain altitude + states[9] = ConstrainFloat(states[9], -4.0e4f, 1.0e4f); + + // Angle bias limit - set to 8 degrees / sec + for (unsigned i = 10; i <= 12; i++) { + states[i] = ConstrainFloat(states[i], -0.12f * dtIMU, 0.12f * dtIMU); + } + + // Constrain delta velocity bias + states[13] = ConstrainFloat(states[13], -1.0f * dtIMU, 1.0f * dtIMU); + + // Wind velocity limits - assume 120 m/s max velocity + for (unsigned i = 14; i <= 15; i++) { + states[i] = ConstrainFloat(states[i], -120.0f, 120.0f); + } + + // Earth magnetic field limits (in Gauss) + for (unsigned i = 16; i <= 18; i++) { + states[i] = ConstrainFloat(states[i], -1.0f, 1.0f); + } + + // Body magnetic field variances (in Gauss). + // the max offset should be in this range. + for (unsigned i = 19; i <= 21; i++) { + states[i] = ConstrainFloat(states[i], -0.5f, 0.5f); + } + + // Constrain terrain offset + states[22] = ConstrainFloat(states[22], -1000.0f, 1000.0f); + +} + +void AttPosEKF::ForceSymmetry() +{ + if (!numericalProtection) { + return; + } + + // Force symmetry on the covariance matrix to prevent ill-conditioning + // of the matrix which would cause the filter to blow-up + for (unsigned i = 1; i < n_states; i++) + { + for (uint8_t j = 0; j < i; j++) + { + P[i][j] = 0.5f * (P[i][j] + P[j][i]); + P[j][i] = P[i][j]; + } + } +} + +bool AttPosEKF::FilterHealthy() +{ + if (!statesInitialised) { + return false; + } + + // XXX Check state vector for NaNs and ill-conditioning + + // Check if any of the major inputs timed out + if (current_ekf_state.posTimeout || current_ekf_state.velTimeout || current_ekf_state.hgtTimeout) { + return false; + } + + // Nothing fired, return ok. + return true; +} + +/** + * Reset the filter position states + * + * This resets the position to the last GPS measurement + * or to zero in case of static position. + */ +void AttPosEKF::ResetPosition(void) +{ + if (staticMode) { + states[7] = 0; + states[8] = 0; + } else if (GPSstatus >= GPS_FIX_3D) { + + // reset the states from the GPS measurements + states[7] = posNE[0]; + states[8] = posNE[1]; + } +} + +/** + * Reset the height state. + * + * This resets the height state with the last altitude measurements + */ +void AttPosEKF::ResetHeight(void) +{ + // write to the state vector + states[9] = -hgtMea; +} + +/** + * Reset the velocity state. + */ +void AttPosEKF::ResetVelocity(void) +{ + if (staticMode) { + states[4] = 0.0f; + states[5] = 0.0f; + states[6] = 0.0f; + } else if (GPSstatus >= GPS_FIX_3D) { + + states[4] = velNED[0]; // north velocity from last reading + states[5] = velNED[1]; // east velocity from last reading + states[6] = velNED[2]; // down velocity from last reading + } +} + + +void AttPosEKF::FillErrorReport(struct ekf_status_report *err) +{ + for (unsigned i = 0; i < n_states; i++) + { + err->states[i] = states[i]; + } + + err->velHealth = current_ekf_state.velHealth; + err->posHealth = current_ekf_state.posHealth; + err->hgtHealth = current_ekf_state.hgtHealth; + err->velTimeout = current_ekf_state.velTimeout; + err->posTimeout = current_ekf_state.posTimeout; + err->hgtTimeout = current_ekf_state.hgtTimeout; +} + +bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { + bool err = false; + + // check all integrators + if (!isfinite(summedDelAng.x) || !isfinite(summedDelAng.y) || !isfinite(summedDelAng.z)) { + err_report->statesNaN = true; + ekf_debug("summedDelAng NaN: x: %f y: %f z: %f", (double)summedDelAng.x, (double)summedDelAng.y, (double)summedDelAng.z); + err = true; + goto out; + } // delta angles + + if (!isfinite(correctedDelAng.x) || !isfinite(correctedDelAng.y) || !isfinite(correctedDelAng.z)) { + err_report->statesNaN = true; + ekf_debug("correctedDelAng NaN: x: %f y: %f z: %f", (double)correctedDelAng.x, (double)correctedDelAng.y, (double)correctedDelAng.z); + err = true; + goto out; + } // delta angles + + if (!isfinite(summedDelVel.x) || !isfinite(summedDelVel.y) || !isfinite(summedDelVel.z)) { + err_report->statesNaN = true; + ekf_debug("summedDelVel NaN: x: %f y: %f z: %f", (double)summedDelVel.x, (double)summedDelVel.y, (double)summedDelVel.z); + err = true; + goto out; + } // delta velocities + + // check all states and covariance matrices + for (unsigned i = 0; i < n_states; i++) { + for (unsigned j = 0; j < n_states; j++) { + if (!isfinite(KH[i][j])) { + + err_report->covarianceNaN = true; + err = true; + ekf_debug("KH NaN"); + goto out; + } // intermediate result used for covariance updates + + if (!isfinite(KHP[i][j])) { + + err_report->covarianceNaN = true; + err = true; + ekf_debug("KHP NaN"); + goto out; + } // intermediate result used for covariance updates + + if (!isfinite(P[i][j])) { + + err_report->covarianceNaN = true; + err = true; + ekf_debug("P NaN"); + } // covariance matrix + } + + if (!isfinite(Kfusion[i])) { + + err_report->kalmanGainsNaN = true; + ekf_debug("Kfusion NaN"); + err = true; + goto out; + } // Kalman gains + + if (!isfinite(states[i])) { + + err_report->statesNaN = true; + ekf_debug("states NaN: i: %u val: %f", i, (double)states[i]); + err = true; + goto out; + } // state matrix + } + +out: + if (err) { + FillErrorReport(err_report); + } + + return err; + +} + +/** + * Check the filter inputs and bound its operational state + * + * This check will reset the filter states if required + * due to a failure of consistency or timeout checks. + * it should be run after the measurement data has been + * updated, but before any of the fusion steps are + * executed. + */ +int AttPosEKF::CheckAndBound() +{ + + // Store the old filter state + bool currStaticMode = staticMode; + + // Reset the filter if the states went NaN + if (StatesNaN(&last_ekf_error)) { + ekf_debug("re-initializing dynamic"); + + InitializeDynamic(velNED, magDeclination); + + return 1; + } + + // Reset the filter if the IMU data is too old + if (dtIMU > 0.3f) { + + ResetVelocity(); + ResetPosition(); + ResetHeight(); + ResetStoredStates(); + + // that's all we can do here, return + return 2; + } + + // Check if we're on ground - this also sets static mode. + OnGroundCheck(); + + // Check if we switched between states + if (currStaticMode != staticMode) { + ResetVelocity(); + ResetPosition(); + ResetHeight(); + ResetStoredStates(); + + return 3; + } + + return 0; +} + +void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat) +{ + float initialRoll, initialPitch; + float cosRoll, sinRoll, cosPitch, sinPitch; + float magX, magY; + float initialHdg, cosHeading, sinHeading; + + initialRoll = atan2f(-ay, -az); + initialPitch = atan2f(ax, -az); + + cosRoll = cosf(initialRoll); + sinRoll = sinf(initialRoll); + cosPitch = cosf(initialPitch); + sinPitch = sinf(initialPitch); + + magX = mx * cosPitch + my * sinRoll * sinPitch + mz * cosRoll * sinPitch; + + magY = my * cosRoll - mz * sinRoll; + + initialHdg = atan2f(-magY, magX); + /* true heading is the mag heading minus declination */ + initialHdg += declination; + + cosRoll = cosf(initialRoll * 0.5f); + sinRoll = sinf(initialRoll * 0.5f); + + cosPitch = cosf(initialPitch * 0.5f); + sinPitch = sinf(initialPitch * 0.5f); + + cosHeading = cosf(initialHdg * 0.5f); + sinHeading = sinf(initialHdg * 0.5f); + + initQuat[0] = cosRoll * cosPitch * cosHeading + sinRoll * sinPitch * sinHeading; + initQuat[1] = sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading; + initQuat[2] = cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading; + initQuat[3] = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading; + + /* normalize */ + float norm = sqrtf(initQuat[0]*initQuat[0] + initQuat[1]*initQuat[1] + initQuat[2]*initQuat[2] + initQuat[3]*initQuat[3]); + + initQuat[0] /= norm; + initQuat[1] /= norm; + initQuat[2] /= norm; + initQuat[3] /= norm; +} + +void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination) +{ + + // Fill variables with valid data + velNED[0] = initvelNED[0]; + velNED[1] = initvelNED[1]; + velNED[2] = initvelNED[2]; + magDeclination = declination; + + // Calculate initial filter quaternion states from raw measurements + float initQuat[4]; + Vector3f initMagXYZ; + initMagXYZ = magData - magBias; + AttitudeInit(accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, declination, initQuat); + + // Calculate initial Tbn matrix and rotate Mag measurements into NED + // to set initial NED magnetic field states + Mat3f DCM; + quat2Tbn(DCM, initQuat); + Vector3f initMagNED; + initMagNED.x = DCM.x.x*initMagXYZ.x + DCM.x.y*initMagXYZ.y + DCM.x.z*initMagXYZ.z; + initMagNED.y = DCM.y.x*initMagXYZ.x + DCM.y.y*initMagXYZ.y + DCM.y.z*initMagXYZ.z; + initMagNED.z = DCM.z.x*initMagXYZ.x + DCM.z.y*initMagXYZ.y + DCM.z.z*initMagXYZ.z; + + magstate.q0 = initQuat[0]; + magstate.q1 = initQuat[1]; + magstate.q2 = initQuat[2]; + magstate.q3 = initQuat[3]; + magstate.magN = initMagNED.x; + magstate.magE = initMagNED.y; + magstate.magD = initMagNED.z; + magstate.magXbias = magBias.x; + magstate.magYbias = magBias.y; + magstate.magZbias = magBias.z; + magstate.R_MAG = sq(magMeasurementSigma); + magstate.DCM = DCM; + + // write to state vector + for (uint8_t j=0; j<=3; j++) states[j] = initQuat[j]; // quaternions + for (uint8_t j=4; j<=6; j++) states[j] = initvelNED[j-4]; // velocities + for (uint8_t j=7; j<=15; j++) states[j] = 0.0f; // positions, dAngBias, dVelBias, windVel + states[16] = initMagNED.x; // Magnetic Field North + states[17] = initMagNED.y; // Magnetic Field East + states[18] = initMagNED.z; // Magnetic Field Down + states[19] = magBias.x; // Magnetic Field Bias X + states[20] = magBias.y; // Magnetic Field Bias Y + states[21] = magBias.z; // Magnetic Field Bias Z + states[22] = 0.0f; // terrain height + + ResetVelocity(); + ResetPosition(); + ResetHeight(); + + statesInitialised = true; + + // initialise the covariance matrix + CovarianceInit(); + + //Define Earth rotation vector in the NED navigation frame + calcEarthRateNED(earthRateNED, latRef); + +} + +void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination) +{ + // store initial lat,long and height + latRef = referenceLat; + lonRef = referenceLon; + hgtRef = referenceHgt; + refSet = true; + + // we are at reference altitude, so measurement must be zero + hgtMea = 0.0f; + + // the baro offset must be this difference now + baroHgtOffset = baroHgt - referenceHgt; + + memset(&last_ekf_error, 0, sizeof(last_ekf_error)); + + InitializeDynamic(initvelNED, declination); +} + +void AttPosEKF::ZeroVariables() +{ + + // Initialize on-init initialized variables + fusionModeGPS = 0; + covSkipCount = 0; + statesInitialised = false; + fuseVelData = false; + fusePosData = false; + fuseHgtData = false; + fuseMagData = false; + fuseVtasData = false; + onGround = true; + staticMode = true; + useAirspeed = true; + useCompass = true; + useRangeFinder = true; + numericalProtection = true; + refSet = false; + storeIndex = 0; + gpsHgt = 0.0f; + baroHgt = 0.0f; + GPSstatus = 0; + VtasMeas = 0.0f; + magDeclination = 0.0f; + + // Do the data structure init + for (unsigned i = 0; i < n_states; i++) { + for (unsigned j = 0; j < n_states; j++) { + KH[i][j] = 0.0f; // intermediate result used for covariance updates + KHP[i][j] = 0.0f; // intermediate result used for covariance updates + P[i][j] = 0.0f; // covariance matrix + } + + Kfusion[i] = 0.0f; // Kalman gains + states[i] = 0.0f; // state matrix + } + + correctedDelAng.zero(); + summedDelAng.zero(); + summedDelVel.zero(); + + dAngIMU.zero(); + dVelIMU.zero(); + + for (unsigned i = 0; i < data_buffer_size; i++) { + + for (unsigned j = 0; j < n_states; j++) { + storedStates[j][i] = 0.0f; + } + + statetimeStamp[i] = 0; + } + + memset(&magstate, 0, sizeof(magstate)); + magstate.q0 = 1.0f; + magstate.DCM.identity(); + + memset(¤t_ekf_state, 0, sizeof(current_ekf_state)); + +} + +void AttPosEKF::GetFilterState(struct ekf_status_report *state) +{ + memcpy(state, ¤t_ekf_state, sizeof(*state)); +} + +void AttPosEKF::GetLastErrorState(struct ekf_status_report *last_error) +{ + memcpy(last_error, &last_ekf_error, sizeof(*last_error)); +} diff --git a/src/modules/ekf_att_pos_estimator/estimator.h b/src/modules/ekf_att_pos_estimator/estimator.h new file mode 100644 index 0000000000..e821089f23 --- /dev/null +++ b/src/modules/ekf_att_pos_estimator/estimator.h @@ -0,0 +1,352 @@ +#include +#include + +#pragma once + +#define GRAVITY_MSS 9.80665f +#define deg2rad 0.017453292f +#define rad2deg 57.295780f +#define pi 3.141592657f +#define earthRate 0.000072921f +#define earthRadius 6378145.0f +#define earthRadiusInv 1.5678540e-7f + +class Vector3f +{ +private: +public: + float x; + float y; + float z; + + float length(void) const; + void zero(void); +}; + +class Mat3f +{ +private: +public: + Vector3f x; + Vector3f y; + Vector3f z; + + Mat3f(); + + void identity(); + Mat3f transpose(void) const; +}; + +Vector3f operator*(float sclIn1, Vector3f vecIn1); +Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2); +Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2); +Vector3f operator*( Mat3f matIn, Vector3f vecIn); +Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2); +Vector3f operator*(Vector3f vecIn1, float sclIn1); + +void swap_var(float &d1, float &d2); + +const unsigned int n_states = 23; +const unsigned int data_buffer_size = 50; + +enum GPS_FIX { + GPS_FIX_NOFIX = 0, + GPS_FIX_2D = 2, + GPS_FIX_3D = 3 +}; + +struct ekf_status_report { + bool velHealth; + bool posHealth; + bool hgtHealth; + bool velTimeout; + bool posTimeout; + bool hgtTimeout; + uint32_t velFailTime; + uint32_t posFailTime; + uint32_t hgtFailTime; + float states[n_states]; + bool statesNaN; + bool covarianceNaN; + bool kalmanGainsNaN; +}; + +class AttPosEKF { + +public: + + AttPosEKF(); + ~AttPosEKF(); + + + + /* ############################################## + * + * M A I N F I L T E R P A R A M E T E R S + * + * ########################################### */ + + /* + * parameters are defined here and initialised in + * the InitialiseParameters() (which is just 20 lines down) + */ + + float covTimeStepMax; // maximum time allowed between covariance predictions + float covDelAngMax; // maximum delta angle between covariance predictions + float rngFinderPitch; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis. + + float yawVarScale; + float windVelSigma; + float dAngBiasSigma; + float dVelBiasSigma; + float magEarthSigma; + float magBodySigma; + float gndHgtSigma; + + float vneSigma; + float vdSigma; + float posNeSigma; + float posDSigma; + float magMeasurementSigma; + float airspeedMeasurementSigma; + + float gyroProcessNoise; + float accelProcessNoise; + + float EAS2TAS; // ratio f true to equivalent airspeed + + void InitialiseParameters() + { + covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions + covDelAngMax = 0.02f; // maximum delta angle between covariance predictions + rngFinderPitch = 0.0f; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis. + EAS2TAS = 1.0f; + + yawVarScale = 1.0f; + windVelSigma = 0.1f; + dAngBiasSigma = 5.0e-7f; + dVelBiasSigma = 1e-4f; + magEarthSigma = 3.0e-4f; + magBodySigma = 3.0e-4f; + gndHgtSigma = 0.02f; // assume 2% terrain gradient 1-sigma + + vneSigma = 0.2f; + vdSigma = 0.3f; + posNeSigma = 2.0f; + posDSigma = 2.0f; + + magMeasurementSigma = 0.05; + airspeedMeasurementSigma = 1.4f; + gyroProcessNoise = 1.4544411e-2f; + accelProcessNoise = 0.5f; + } + + struct { + unsigned obsIndex; + float MagPred[3]; + float SH_MAG[9]; + float q0; + float q1; + float q2; + float q3; + float magN; + float magE; + float magD; + float magXbias; + float magYbias; + float magZbias; + float R_MAG; + Mat3f DCM; + } magstate; + + + // Global variables + float KH[n_states][n_states]; // intermediate result used for covariance updates + float KHP[n_states][n_states]; // intermediate result used for covariance updates + float P[n_states][n_states]; // covariance matrix + float Kfusion[n_states]; // Kalman gains + float states[n_states]; // state matrix + float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps + uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored + + float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements + float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements + float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement + float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time + float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time + float statesAtRngTime[n_states]; // filter states at the effective measurement time + + Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad) + Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s) + Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad) + Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s) + float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2) + Vector3f earthRateNED; // earths angular rate vector in NED (rad/s) + Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s) + + Mat3f Tbn; // transformation matrix from body to NED coordinates + Mat3f Tnb; // transformation amtrix from NED to body coordinates + + Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2) + Vector3f dVelIMU; + Vector3f dAngIMU; + float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec) + uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity + float innovVelPos[6]; // innovation output + float varInnovVelPos[6]; // innovation variance output + + float velNED[3]; // North, East, Down velocity obs (m/s) + float posNE[2]; // North, East position obs (m) + float hgtMea; // measured height (m) + float baroHgtOffset; ///< the baro (weather) offset from normalized altitude + float rngMea; // Ground distance + float posNED[3]; // North, East Down position (m) + + float innovMag[3]; // innovation output + float varInnovMag[3]; // innovation variance output + Vector3f magData; // magnetometer flux radings in X,Y,Z body axes + float innovVtas; // innovation output + float innovRng; ///< Range finder innovation + float varInnovVtas; // innovation variance output + float VtasMeas; // true airspeed measurement (m/s) + float magDeclination; ///< magnetic declination + double latRef; // WGS-84 latitude of reference point (rad) + double lonRef; // WGS-84 longitude of reference point (rad) + float hgtRef; // WGS-84 height of reference point (m) + bool refSet; ///< flag to indicate if the reference position has been set + Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes + unsigned covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction + + // GPS input data variables + float gpsCourse; + float gpsVelD; + double gpsLat; + double gpsLon; + float gpsHgt; + uint8_t GPSstatus; + + // Baro input + float baroHgt; + + bool statesInitialised; + + bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused + bool fusePosData; // this boolean causes the posNE and velNED obs to be fused + bool fuseHgtData; // this boolean causes the hgtMea obs to be fused + bool fuseMagData; // boolean true when magnetometer data is to be fused + bool fuseVtasData; // boolean true when airspeed data is to be fused + bool fuseRngData; ///< true when range data is fused + + bool onGround; ///< boolean true when the flight vehicle is on the ground (not flying) + bool staticMode; ///< boolean true if no position feedback is fused + bool useAirspeed; ///< boolean true if airspeed data is being used + bool useCompass; ///< boolean true if magnetometer data is being used + bool useRangeFinder; ///< true when rangefinder is being used + + struct ekf_status_report current_ekf_state; + struct ekf_status_report last_ekf_error; + + bool numericalProtection; + + unsigned storeIndex; + + +void UpdateStrapdownEquationsNED(); + +void CovariancePrediction(float dt); + +void FuseVelposNED(); + +void FuseMagnetometer(); + +void FuseAirspeed(); + +void FuseRangeFinder(); + +void FuseOpticalFlow(); + +void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); + +void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); + +void quatNorm(float (&quatOut)[4], const float quatIn[4]); + +// store staes along with system time stamp in msces +void StoreStates(uint64_t timestamp_ms); + +/** + * Recall the state vector. + * + * Recalls the vector stored at closest time to the one specified by msec + * + * @return zero on success, integer indicating the number of invalid states on failure. + * Does only copy valid states, if the statesForFusion vector was initialized + * correctly by the caller, the result can be safely used, but is a mixture + * time-wise where valid states were updated and invalid remained at the old + * value. + */ +int RecallStates(float *statesForFusion, uint64_t msec); + +void ResetStoredStates(); + +void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]); + +void calcEarthRateNED(Vector3f &omega, float latitude); + +static void eul2quat(float (&quat)[4], const float (&eul)[3]); + +static void quat2eul(float (&eul)[3], const float (&quat)[4]); + +static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD); + +static void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef); + +static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef); + +static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]); + +static float sq(float valIn); + +void OnGroundCheck(); + +void CovarianceInit(); + +void InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination); + +float ConstrainFloat(float val, float min, float max); + +void ConstrainVariances(); + +void ConstrainStates(); + +void ForceSymmetry(); + +int CheckAndBound(); + +void ResetPosition(); + +void ResetVelocity(); + +void ZeroVariables(); + +void GetFilterState(struct ekf_status_report *state); + +void GetLastErrorState(struct ekf_status_report *last_error); + +bool StatesNaN(struct ekf_status_report *err_report); +void FillErrorReport(struct ekf_status_report *err); + +void InitializeDynamic(float (&initvelNED)[3], float declination); + +protected: + +bool FilterHealthy(); + +void ResetHeight(void); + +void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat); + +}; + +uint32_t millis(); + diff --git a/src/modules/fixedwing_att_control/module.mk b/src/modules/ekf_att_pos_estimator/module.mk similarity index 86% rename from src/modules/fixedwing_att_control/module.mk rename to src/modules/ekf_att_pos_estimator/module.mk index fd1a8724a5..6fefec2c2a 100644 --- a/src/modules/fixedwing_att_control/module.mk +++ b/src/modules/ekf_att_pos_estimator/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,11 +32,11 @@ ############################################################################ # -# Fixedwing Attitude Control application +# Main EKF Attitude and Position Estimator # -MODULE_COMMAND = fixedwing_att_control +MODULE_COMMAND = ekf_att_pos_estimator -SRCS = fixedwing_att_control_main.c \ - fixedwing_att_control_att.c \ - fixedwing_att_control_rate.c +SRCS = ekf_att_pos_estimator_main.cpp \ + ekf_att_pos_estimator_params.c \ + estimator.cpp diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c deleted file mode 100644 index 2aeca3a98e..0000000000 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c +++ /dev/null @@ -1,169 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * - * 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 fixedwing_att_control_rate.c - * Implementation of a fixed wing attitude controller. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include "fixedwing_att_control_att.h" - - -struct fw_att_control_params { - float roll_p; - float rollrate_lim; - float pitch_p; - float pitchrate_lim; - float yawrate_lim; - float pitch_roll_compensation_p; -}; - -struct fw_pos_control_param_handles { - param_t roll_p; - param_t rollrate_lim; - param_t pitch_p; - param_t pitchrate_lim; - param_t yawrate_lim; - param_t pitch_roll_compensation_p; -}; - - - -/* Internal Prototypes */ -static int parameters_init(struct fw_pos_control_param_handles *h); -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p); - -static int parameters_init(struct fw_pos_control_param_handles *h) -{ - /* PID parameters */ - h->roll_p = param_find("FW_ROLL_P"); - h->rollrate_lim = param_find("FW_ROLLR_LIM"); - h->pitch_p = param_find("FW_PITCH_P"); - h->pitchrate_lim = param_find("FW_PITCHR_LIM"); - h->yawrate_lim = param_find("FW_YAWR_LIM"); - h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP"); - - return OK; -} - -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p) -{ - param_get(h->roll_p, &(p->roll_p)); - param_get(h->rollrate_lim, &(p->rollrate_lim)); - param_get(h->pitch_p, &(p->pitch_p)); - param_get(h->pitchrate_lim, &(p->pitchrate_lim)); - param_get(h->yawrate_lim, &(p->yawrate_lim)); - param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p)); - - return OK; -} - -int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, - const float speed_body[], - struct vehicle_rates_setpoint_s *rates_sp) -{ - static int counter = 0; - static bool initialized = false; - - static struct fw_att_control_params p; - static struct fw_pos_control_param_handles h; - - static PID_t roll_controller; - static PID_t pitch_controller; - - - if (!initialized) { - parameters_init(&h); - parameters_update(&h, &p); - pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller - pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller - initialized = true; - } - - /* load new parameters with lower rate */ - if (counter % 100 == 0) { - /* update parameters from storage */ - parameters_update(&h, &p); - pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim); - pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim); - } - - /* Roll (P) */ - rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0); - - - /* Pitch (P) */ - - /* compensate feedforward for loss of lift due to non-horizontal angle of wing */ - float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body)); - /* set pitch plus feedforward roll compensation */ - rates_sp->pitch = pid_calculate(&pitch_controller, - att_sp->pitch_body + pitch_sp_rollcompensation, - att->pitch, 0, 0); - - /* Yaw (from coordinated turn constraint or lateral force) */ - rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll)) - / (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch)); - -// printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw); - - counter++; - - return 0; -} - - - diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.h b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h deleted file mode 100644 index 600e35b898..0000000000 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.h +++ /dev/null @@ -1,51 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * - * - * 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 Fixed Wing Attitude Control */ - -#ifndef FIXEDWING_ATT_CONTROL_ATT_H_ -#define FIXEDWING_ATT_CONTROL_ATT_H_ - -#include -#include -#include -#include - -int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, - const float speed_body[], - struct vehicle_rates_setpoint_s *rates_sp); - -#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */ diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c deleted file mode 100644 index b6b4546c23..0000000000 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c +++ /dev/null @@ -1,367 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Doug Weibel - * - * 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 fixedwing_att_control.c - * Implementation of a fixed wing attitude controller. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "fixedwing_att_control_rate.h" -#include "fixedwing_att_control_att.h" - -/* Prototypes */ -/** - * Deamon management function. - */ -__EXPORT int fixedwing_att_control_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int fixedwing_att_control_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -/* Variables */ -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ - -/* Main Thread */ -int fixedwing_att_control_thread_main(int argc, char *argv[]) -{ - /* read arguments */ - bool verbose = false; - - for (int i = 1; i < argc; i++) { - if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { - verbose = true; - } - } - - /* welcome user */ - printf("[fixedwing att control] started\n"); - - /* declare and safely initialize all structs */ - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); - struct vehicle_attitude_setpoint_s att_sp; - memset(&att_sp, 0, sizeof(att_sp)); - struct vehicle_rates_setpoint_s rates_sp; - memset(&rates_sp, 0, sizeof(rates_sp)); - struct vehicle_global_position_s global_pos; - memset(&global_pos, 0, sizeof(global_pos)); - struct manual_control_setpoint_s manual_sp; - memset(&manual_sp, 0, sizeof(manual_sp)); - struct vehicle_control_mode_s control_mode; - memset(&control_mode, 0, sizeof(control_mode)); - struct vehicle_status_s vstatus; - memset(&vstatus, 0, sizeof(vstatus)); - - /* output structs */ - struct actuator_controls_s actuators; - memset(&actuators, 0, sizeof(actuators)); - - - /* publish actuator controls */ - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { - actuators.control[i] = 0.0f; - } - - orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); - orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); - - /* subscribe */ - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); - - /* Setup of loop */ - float gyro[3] = {0.0f, 0.0f, 0.0f}; - float speed_body[3] = {0.0f, 0.0f, 0.0f}; - struct pollfd fds = { .fd = att_sub, .events = POLLIN }; - - while (!thread_should_exit) { - /* wait for a sensor update, check for exit condition every 500 ms */ - poll(&fds, 1, 500); - - /* Check if there is a new position measurement or attitude setpoint */ - bool pos_updated; - orb_check(global_pos_sub, &pos_updated); - bool att_sp_updated; - orb_check(att_sp_sub, &att_sp_updated); - - /* get a local copy of attitude */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - - if (att_sp_updated) - orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp); - - if (pos_updated) { - orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); - - if (att.R_valid) { - speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz; - speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz; - speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz; - - } else { - speed_body[0] = 0; - speed_body[1] = 0; - speed_body[2] = 0; - - printf("FW ATT CONTROL: Did not get a valid R\n"); - } - } - - orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); - orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); - - gyro[0] = att.rollspeed; - gyro[1] = att.pitchspeed; - gyro[2] = att.yawspeed; - - /* set manual setpoints if required */ - if (control_mode.flag_control_manual_enabled) { - if (control_mode.flag_control_attitude_enabled) { - - /* if the RC signal is lost, try to stay level and go slowly back down to ground */ - if (vstatus.rc_signal_lost) { - - /* put plane into loiter */ - att_sp.roll_body = 0.3f; - att_sp.pitch_body = 0.0f; - - /* limit throttle to 60 % of last value if sane */ - if (isfinite(manual_sp.throttle) && - (manual_sp.throttle >= 0.0f) && - (manual_sp.throttle <= 1.0f)) { - att_sp.thrust = 0.6f * manual_sp.throttle; - - } else { - att_sp.thrust = 0.0f; - } - - att_sp.yaw_body = 0; - - // XXX disable yaw control, loiter - - } else { - - att_sp.roll_body = manual_sp.roll; - att_sp.pitch_body = manual_sp.pitch; - att_sp.yaw_body = 0; - att_sp.thrust = manual_sp.throttle; - } - - att_sp.timestamp = hrt_absolute_time(); - - /* pass through flaps */ - if (isfinite(manual_sp.flaps)) { - actuators.control[4] = manual_sp.flaps; - - } else { - actuators.control[4] = 0.0f; - } - - } else { - /* directly pass through values */ - actuators.control[0] = manual_sp.roll; - /* positive pitch means negative actuator -> pull up */ - actuators.control[1] = manual_sp.pitch; - actuators.control[2] = manual_sp.yaw; - actuators.control[3] = manual_sp.throttle; - - if (isfinite(manual_sp.flaps)) { - actuators.control[4] = manual_sp.flaps; - - } else { - actuators.control[4] = 0.0f; - } - } - } - - /* execute attitude control if requested */ - if (control_mode.flag_control_attitude_enabled) { - /* attitude control */ - fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); - - /* angular rate control */ - fixedwing_att_control_rates(&rates_sp, gyro, &actuators); - - /* pass through throttle */ - actuators.control[3] = att_sp.thrust; - - /* set flaps to zero */ - actuators.control[4] = 0.0f; - - } - - /* publish rates */ - orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp); - - /* sanity check and publish actuator outputs */ - if (isfinite(actuators.control[0]) && - isfinite(actuators.control[1]) && - isfinite(actuators.control[2]) && - isfinite(actuators.control[3])) { - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - } - } - - printf("[fixedwing_att_control] exiting, stopping all motors.\n"); - thread_running = false; - - /* kill all outputs */ - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) - actuators.control[i] = 0.0f; - - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - - - - close(att_sub); - close(actuator_pub); - close(rates_pub); - - fflush(stdout); - exit(0); - - return 0; - -} - -/* Startup Functions */ - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int fixedwing_att_control_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("fixedwing_att_control already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn_cmd("fixedwing_att_control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 20, - 2048, - fixedwing_att_control_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - thread_running = true; - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tfixedwing_att_control is running\n"); - - } else { - printf("\tfixedwing_att_control not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - - - diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c deleted file mode 100644 index cdab39edcf..0000000000 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c +++ /dev/null @@ -1,211 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * - * 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 fixedwing_att_control_rate.c - * @author Thomas Gubler - * - * Implementation of a fixed wing attitude controller. - * - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include "fixedwing_att_control_rate.h" - -/* - * Controller parameters, accessible via MAVLink - * - */ -// Roll control parameters -PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f); -PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f); -PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f); -PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller -PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f); -PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); - -//Pitch control parameters -PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f); -PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f); -PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f); -PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller -PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f); - -//Yaw control parameters //XXX TODO this is copy paste, asign correct values -PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f); -PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec - -/* feedforward compensation */ -PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f); /**< throttle to pitch coupling feedforward */ - -struct fw_rate_control_params { - float rollrate_p; - float rollrate_i; - float rollrate_awu; - float pitchrate_p; - float pitchrate_i; - float pitchrate_awu; - float yawrate_p; - float yawrate_i; - float yawrate_awu; - float pitch_thr_ff; -}; - -struct fw_rate_control_param_handles { - param_t rollrate_p; - param_t rollrate_i; - param_t rollrate_awu; - param_t pitchrate_p; - param_t pitchrate_i; - param_t pitchrate_awu; - param_t yawrate_p; - param_t yawrate_i; - param_t yawrate_awu; - param_t pitch_thr_ff; -}; - - - -/* Internal Prototypes */ -static int parameters_init(struct fw_rate_control_param_handles *h); -static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p); - -static int parameters_init(struct fw_rate_control_param_handles *h) -{ - /* PID parameters */ - h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing - h->rollrate_i = param_find("FW_ROLLR_I"); - h->rollrate_awu = param_find("FW_ROLLR_AWU"); - - h->pitchrate_p = param_find("FW_PITCHR_P"); - h->pitchrate_i = param_find("FW_PITCHR_I"); - h->pitchrate_awu = param_find("FW_PITCHR_AWU"); - - h->yawrate_p = param_find("FW_YAWR_P"); - h->yawrate_i = param_find("FW_YAWR_I"); - h->yawrate_awu = param_find("FW_YAWR_AWU"); - h->pitch_thr_ff = param_find("FW_PITCH_THR_P"); - - return OK; -} - -static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p) -{ - param_get(h->rollrate_p, &(p->rollrate_p)); - param_get(h->rollrate_i, &(p->rollrate_i)); - param_get(h->rollrate_awu, &(p->rollrate_awu)); - param_get(h->pitchrate_p, &(p->pitchrate_p)); - param_get(h->pitchrate_i, &(p->pitchrate_i)); - param_get(h->pitchrate_awu, &(p->pitchrate_awu)); - param_get(h->yawrate_p, &(p->yawrate_p)); - param_get(h->yawrate_i, &(p->yawrate_i)); - param_get(h->yawrate_awu, &(p->yawrate_awu)); - param_get(h->pitch_thr_ff, &(p->pitch_thr_ff)); - - return OK; -} - -int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], - struct actuator_controls_s *actuators) -{ - static int counter = 0; - static bool initialized = false; - - static struct fw_rate_control_params p; - static struct fw_rate_control_param_handles h; - - static PID_t roll_rate_controller; - static PID_t pitch_rate_controller; - static PID_t yaw_rate_controller; - - static uint64_t last_run = 0; - const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); - - if (!initialized) { - parameters_init(&h); - parameters_update(&h, &p); - pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the controller layout is with a PI rate controller - pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher - pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher - initialized = true; - } - - /* load new parameters with lower rate */ - if (counter % 100 == 0) { - /* update parameters from storage */ - parameters_update(&h, &p); - pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1); - pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1); - pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1); - } - - - /* roll rate (PI) */ - actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); - /* pitch rate (PI) */ - actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); - /* yaw rate (PI) */ - actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); - - counter++; - - return 0; -} - - - diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp index f7c0b61488..bbb39f20f0 100644 --- a/src/modules/fixedwing_backside/fixedwing.cpp +++ b/src/modules/fixedwing_backside/fixedwing.cpp @@ -175,14 +175,14 @@ void BlockMultiModeBacksideAutopilot::update() // the min/max velocity float v = _vLimit.update(sqrtf( _pos.vel_n * _pos.vel_n + - _pos.vy * _pos.vy + + _pos.vel_e * _pos.vel_e + _pos.vel_d * _pos.vel_d)); // limit velocity command between min/max velocity float vCmd = _vLimit.update(_vCmd.get()); // altitude hold - float dThrottle = _h2Thr.update(_missionCmd.current.altitude - _pos.alt); + float dThrottle = _h2Thr.update(_missionCmd.current.alt - _pos.alt); // heading hold float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw); @@ -229,15 +229,15 @@ void BlockMultiModeBacksideAutopilot::update() _actuators.control[CH_RDR] = _manual.yaw; _actuators.control[CH_THR] = _manual.throttle; - } else if (_status.main_state == MAIN_STATE_SEATBELT || - _status.main_state == MAIN_STATE_EASY /* TODO, implement easy */) { + } else if (_status.main_state == MAIN_STATE_ALTCTL || + _status.main_state == MAIN_STATE_POSCTL /* TODO, implement pos control */) { // calculate velocity, XXX should be airspeed, but using ground speed for now // for the purpose of control we will limit the velocity feedback between // the min/max velocity float v = _vLimit.update(sqrtf( _pos.vel_n * _pos.vel_n + - _pos.vy * _pos.vy + + _pos.vel_e * _pos.vel_e + _pos.vel_d * _pos.vel_d)); // pitch channel -> rate of climb diff --git a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c deleted file mode 100644 index 888dd09423..0000000000 --- a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c +++ /dev/null @@ -1,479 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Doug Weibel - * - * 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 fixedwing_pos_control.c - * Implementation of a fixed wing attitude controller. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -/* - * Controller parameters, accessible via MAVLink - * - */ -PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f); -PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f); -PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value -PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f); // Radians per meter off track -PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f); -PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians -PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f); -PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); /**< Pitch angle limit in radians per second */ - -struct fw_pos_control_params { - float heading_p; - float headingr_p; - float headingr_i; - float headingr_lim; - float xtrack_p; - float altitude_p; - float roll_lim; - float pitch_lim; -}; - -struct fw_pos_control_param_handles { - param_t heading_p; - param_t headingr_p; - param_t headingr_i; - param_t headingr_lim; - param_t xtrack_p; - param_t altitude_p; - param_t roll_lim; - param_t pitch_lim; -}; - - -struct planned_path_segments_s { - bool segment_type; - double start_lat; // Start of line or center of arc - double start_lon; - double end_lat; - double end_lon; - float radius; // Radius of arc - float arc_start_bearing; // Bearing from center to start of arc - float arc_sweep; // Angle (radians) swept out by arc around center. - // Positive for clockwise, negative for counter-clockwise -}; - - -/* Prototypes */ -/* Internal Prototypes */ -static int parameters_init(struct fw_pos_control_param_handles *h); -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p); - -/** - * Deamon management function. - */ -__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int fixedwing_pos_control_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -/* Variables */ -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ - - -/** - * Parameter management - */ -static int parameters_init(struct fw_pos_control_param_handles *h) -{ - /* PID parameters */ - h->heading_p = param_find("FW_HEAD_P"); - h->headingr_p = param_find("FW_HEADR_P"); - h->headingr_i = param_find("FW_HEADR_I"); - h->headingr_lim = param_find("FW_HEADR_LIM"); - h->xtrack_p = param_find("FW_XTRACK_P"); - h->altitude_p = param_find("FW_ALT_P"); - h->roll_lim = param_find("FW_ROLL_LIM"); - h->pitch_lim = param_find("FW_PITCH_LIM"); - - return OK; -} - -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p) -{ - param_get(h->heading_p, &(p->heading_p)); - param_get(h->headingr_p, &(p->headingr_p)); - param_get(h->headingr_i, &(p->headingr_i)); - param_get(h->headingr_lim, &(p->headingr_lim)); - param_get(h->xtrack_p, &(p->xtrack_p)); - param_get(h->altitude_p, &(p->altitude_p)); - param_get(h->roll_lim, &(p->roll_lim)); - param_get(h->pitch_lim, &(p->pitch_lim)); - - return OK; -} - - -/* Main Thread */ -int fixedwing_pos_control_thread_main(int argc, char *argv[]) -{ - /* read arguments */ - bool verbose = false; - - for (int i = 1; i < argc; i++) { - if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { - verbose = true; - } - } - - /* welcome user */ - printf("[fixedwing pos control] started\n"); - - /* declare and safely initialize all structs */ - struct vehicle_global_position_s global_pos; - memset(&global_pos, 0, sizeof(global_pos)); - struct vehicle_global_position_s start_pos; // Temporary variable, replace with - memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available - struct vehicle_global_position_setpoint_s global_setpoint; - memset(&global_setpoint, 0, sizeof(global_setpoint)); - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); - struct crosstrack_error_s xtrack_err; - memset(&xtrack_err, 0, sizeof(xtrack_err)); - struct parameter_update_s param_update; - memset(¶m_update, 0, sizeof(param_update)); - - /* output structs */ - struct vehicle_attitude_setpoint_s attitude_setpoint; - memset(&attitude_setpoint, 0, sizeof(attitude_setpoint)); - - /* publish attitude setpoint */ - attitude_setpoint.roll_body = 0.0f; - attitude_setpoint.pitch_body = 0.0f; - attitude_setpoint.yaw_body = 0.0f; - attitude_setpoint.thrust = 0.0f; - orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint); - - /* subscribe */ - int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int param_sub = orb_subscribe(ORB_ID(parameter_update)); - - /* Setup of loop */ - struct pollfd fds[2] = { - { .fd = param_sub, .events = POLLIN }, - { .fd = att_sub, .events = POLLIN } - }; - bool global_sp_updated_set_once = false; - - float psi_track = 0.0f; - - int counter = 0; - - struct fw_pos_control_params p; - struct fw_pos_control_param_handles h; - - PID_t heading_controller; - PID_t heading_rate_controller; - PID_t offtrack_controller; - PID_t altitude_controller; - - parameters_init(&h); - parameters_update(&h, &p); - pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE, 0.0f); //arbitrary high limit - pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE, 0.0f); - pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE, 0.0f); - pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE, 0.0f); //TODO: remove hardcoded value - - /* error and performance monitoring */ - perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval"); - perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err"); - - while (!thread_should_exit) { - /* wait for a sensor update, check for exit condition every 500 ms */ - int ret = poll(fds, 2, 500); - - if (ret < 0) { - /* poll error, count it in perf */ - perf_count(fw_err_perf); - - } else if (ret == 0) { - /* no return value, ignore */ - } else { - - /* only update parameters if they changed */ - if (fds[0].revents & POLLIN) { - /* read from param to clear updated flag */ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), param_sub, &update); - - /* update parameters from storage */ - parameters_update(&h, &p); - pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit - pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim); - pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim); - pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value - } - - /* only run controller if attitude changed */ - if (fds[1].revents & POLLIN) { - - - static uint64_t last_run = 0; - const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); - - /* check if there is a new position or setpoint */ - bool pos_updated; - orb_check(global_pos_sub, &pos_updated); - bool global_sp_updated; - orb_check(global_setpoint_sub, &global_sp_updated); - - /* load local copies */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - - if (pos_updated) { - orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); - } - - if (global_sp_updated) { - orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); - start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint) - global_sp_updated_set_once = true; - psi_track = get_bearing_to_next_waypoint(global_pos.lat, global_pos.lon, - (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); - - printf("next wp direction: %0.4f\n", (double)psi_track); - } - - /* Simple Horizontal Control */ - if (global_sp_updated_set_once) { - // if (counter % 100 == 0) - // printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); - - /* calculate crosstrack error */ - // Only the case of a straight line track following handled so far - int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, - (double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d, - (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); - - // XXX what is xtrack_err.past_end? - if (distance_res == OK /*&& !xtrack_err.past_end*/) { - - float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance - - float psi_c = psi_track + delta_psi_c; - float psi_e = psi_c - att.yaw; - - /* wrap difference back onto -pi..pi range */ - psi_e = _wrap_pi(psi_e); - - if (verbose) { - printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance); - printf("delta_psi_c %.4f ", (double)delta_psi_c); - printf("psi_c %.4f ", (double)psi_c); - printf("att.yaw %.4f ", (double)att.yaw); - printf("psi_e %.4f ", (double)psi_e); - } - - /* calculate roll setpoint, do this artificially around zero */ - float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); - float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following - float psi_rate_c = delta_psi_rate_c + psi_rate_track; - - /* limit turn rate */ - if (psi_rate_c > p.headingr_lim) { - psi_rate_c = p.headingr_lim; - - } else if (psi_rate_c < -p.headingr_lim) { - psi_rate_c = -p.headingr_lim; - } - - float psi_rate_e = psi_rate_c - att.yawspeed; - - // XXX sanity check: Assume 10 m/s stall speed and no stall condition - float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); - - if (ground_speed < 10.0f) { - ground_speed = 10.0f; - } - - float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g - - attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT); - - if (verbose) { - printf("psi_rate_c %.4f ", (double)psi_rate_c); - printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled); - printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body); - } - - if (verbose && counter % 100 == 0) - printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c); - - } else { - if (verbose && counter % 100 == 0) - printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end); - } - - /* Very simple Altitude Control */ - if (pos_updated) { - - //TODO: take care of relative vs. ab. altitude - attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f); - - } - - // XXX need speed control - attitude_setpoint.thrust = 0.7f; - - /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint); - - /* measure in what intervals the controller runs */ - perf_count(fw_interval_perf); - - counter++; - - } else { - // XXX no setpoint, decent default needed (loiter?) - } - } - } - } - - printf("[fixedwing_pos_control] exiting.\n"); - thread_running = false; - - - close(attitude_setpoint_pub); - - fflush(stdout); - exit(0); - - return 0; - -} - -/* Startup Functions */ - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int fixedwing_pos_control_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("fixedwing_pos_control already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn_cmd("fixedwing_pos_control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 20, - 2048, - fixedwing_pos_control_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - thread_running = true; - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tfixedwing_pos_control is running\n"); - - } else { - printf("\tfixedwing_pos_control not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 17b1028f9a..1f3e9f098a 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -108,14 +108,14 @@ private: bool _task_should_exit; /**< if true, sensor task should exit */ int _control_task; /**< task handle for sensor task */ - int _att_sub; /**< vehicle attitude subscription */ - int _accel_sub; /**< accelerometer subscription */ + int _att_sub; /**< vehicle attitude subscription */ + int _accel_sub; /**< accelerometer subscription */ int _att_sp_sub; /**< vehicle attitude setpoint */ int _attitude_sub; /**< raw rc channels data subscription */ int _airspeed_sub; /**< airspeed subscription */ int _vcontrol_mode_sub; /**< vehicle status subscription */ - int _params_sub; /**< notification of parameter updates */ - int _manual_sub; /**< notification of manual control updates */ + int _params_sub; /**< notification of parameter updates */ + int _manual_sub; /**< notification of manual control updates */ int _global_pos_sub; /**< global position subscription */ orb_advert_t _rate_sp_pub; /**< rate setpoint publication */ @@ -123,20 +123,19 @@ private: orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */ orb_advert_t _actuators_1_pub; /**< actuator control group 1 setpoint (Airframe) */ - struct vehicle_attitude_s _att; /**< vehicle attitude */ - struct accel_report _accel; /**< body frame accelerations */ + struct vehicle_attitude_s _att; /**< vehicle attitude */ + struct accel_report _accel; /**< body frame accelerations */ struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ struct manual_control_setpoint_s _manual; /**< r/c channel data */ - struct airspeed_s _airspeed; /**< airspeed */ - struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */ + struct airspeed_s _airspeed; /**< airspeed */ + struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */ struct actuator_controls_s _actuators; /**< actuator control inputs */ - struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */ - struct vehicle_global_position_s _global_pos; /**< global position */ + struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */ + struct vehicle_global_position_s _global_pos; /**< global position */ perf_counter_t _loop_perf; /**< loop performance counter */ bool _setpoint_valid; /**< flag if the position control setpoint is valid */ - bool _airspeed_valid; /**< flag if the airspeed measurement is valid */ struct { float tconst; @@ -166,6 +165,17 @@ private: float airspeed_min; float airspeed_trim; float airspeed_max; + + float trim_roll; + float trim_pitch; + float trim_yaw; + float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */ + float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */ + float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */ + float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */ + float man_roll_max; /**< Max Roll in rad */ + float man_pitch_max; /**< Max Pitch in rad */ + } _parameters; /**< local copies of interesting parameters */ struct { @@ -197,6 +207,14 @@ private: param_t airspeed_min; param_t airspeed_trim; param_t airspeed_max; + + param_t trim_roll; + param_t trim_pitch; + param_t trim_yaw; + param_t rollsp_offset_deg; + param_t pitchsp_offset_deg; + param_t man_roll_max; + param_t man_pitch_max; } _parameter_handles; /**< handles for interesting parameters */ @@ -230,7 +248,7 @@ private: /** * Check for airspeed updates. */ - bool vehicle_airspeed_poll(); + void vehicle_airspeed_poll(); /** * Check for accel updates. @@ -255,7 +273,7 @@ private: /** * Main sensor collection task. */ - void task_main() __attribute__((noreturn)); + void task_main(); }; namespace att_control @@ -293,19 +311,18 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), /* states */ - _setpoint_valid(false), - _airspeed_valid(false) + _setpoint_valid(false) { /* safely initialize structs */ - _att = {0}; - _accel = {0}; - _att_sp = {0}; - _manual = {0}; - _airspeed = {0}; - _vcontrol_mode = {0}; - _actuators = {0}; - _actuators_airframe = {0}; - _global_pos = {0}; + _att = {}; + _accel = {}; + _att_sp = {}; + _manual = {}; + _airspeed = {}; + _vcontrol_mode = {}; + _actuators = {}; + _actuators_airframe = {}; + _global_pos = {}; _parameter_handles.tconst = param_find("FW_ATT_TC"); @@ -335,6 +352,15 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.y_coordinated_min_speed = param_find("FW_YCO_VMIN"); + _parameter_handles.trim_roll = param_find("TRIM_ROLL"); + _parameter_handles.trim_pitch = param_find("TRIM_PITCH"); + _parameter_handles.trim_yaw = param_find("TRIM_YAW"); + _parameter_handles.rollsp_offset_deg = param_find("FW_RSP_OFF"); + _parameter_handles.pitchsp_offset_deg = param_find("FW_PSP_OFF"); + + _parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX"); + _parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX"); + /* fetch initial parameter values */ parameters_update(); } @@ -395,6 +421,19 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim)); param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max)); + param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll)); + param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch)); + param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw)); + param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg)); + param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg)); + _parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg); + _parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg); + param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max)); + param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max)); + _parameters.man_roll_max = math::radians(_parameters.man_roll_max); + _parameters.man_pitch_max = math::radians(_parameters.man_pitch_max); + + /* pitch control parameters */ _pitch_ctrl.set_time_constant(_parameters.tconst); _pitch_ctrl.set_k_p(_parameters.p_p); @@ -452,7 +491,7 @@ FixedwingAttitudeControl::vehicle_manual_poll() } } -bool +void FixedwingAttitudeControl::vehicle_airspeed_poll() { /* check if there is a new position */ @@ -462,10 +501,7 @@ FixedwingAttitudeControl::vehicle_airspeed_poll() if (airspeed_updated) { orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed); // warnx("airspeed poll: ind: %.4f, true: %.4f", _airspeed.indicated_airspeed_m_s, _airspeed.true_airspeed_m_s); - return true; } - - return false; } void @@ -539,7 +575,7 @@ FixedwingAttitudeControl::task_main() parameters_update(); /* get an initial update for all sensor and status data */ - (void)vehicle_airspeed_poll(); + vehicle_airspeed_poll(); vehicle_setpoint_poll(); vehicle_accel_poll(); vehicle_control_mode_poll(); @@ -596,7 +632,7 @@ FixedwingAttitudeControl::task_main() /* load local copies */ orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); - _airspeed_valid = vehicle_airspeed_poll(); + vehicle_airspeed_poll(); vehicle_setpoint_poll(); @@ -635,26 +671,32 @@ FixedwingAttitudeControl::task_main() float airspeed; - /* if airspeed is smaller than min, the sensor is not giving good readings */ - if (!_airspeed_valid || - (_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) || - !isfinite(_airspeed.indicated_airspeed_m_s)) { + /* if airspeed is not updating, we assume the normal average speed */ + if (!isfinite(_airspeed.true_airspeed_m_s) || + hrt_elapsed_time(&_airspeed.timestamp) > 1e6) { airspeed = _parameters.airspeed_trim; } else { - airspeed = _airspeed.indicated_airspeed_m_s; + airspeed = _airspeed.true_airspeed_m_s; } - float airspeed_scaling = _parameters.airspeed_trim / airspeed; - //warnx("aspd scale: %6.2f act scale: %6.2f", airspeed_scaling, actuator_scaling); + /* + * For scaling our actuators using anything less than the min (close to stall) + * speed doesn't make any sense - its the strongest reasonable deflection we + * want to do in flight and its the baseline a human pilot would choose. + * + * Forcing the scaling to this value allows reasonable handheld tests. + */ - float roll_sp = 0.0f; - float pitch_sp = 0.0f; + float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min : airspeed); + + float roll_sp = _parameters.rollsp_offset_rad; + float pitch_sp = _parameters.pitchsp_offset_rad; float throttle_sp = 0.0f; if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) { - roll_sp = _att_sp.roll_body; - pitch_sp = _att_sp.pitch_body; + roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad; + pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad; throttle_sp = _att_sp.thrust; /* reset integrals where needed */ @@ -664,16 +706,21 @@ FixedwingAttitudeControl::task_main() } else { /* * Scale down roll and pitch as the setpoints are radians - * and a typical remote can only do 45 degrees, the mapping is - * -1..+1 to -45..+45 degrees or -0.75..+0.75 radians. + * and a typical remote can only do around 45 degrees, the mapping is + * -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch) * * With this mapping the stick angle is a 1:1 representation of - * the commanded attitude. If more than 45 degrees are desired, - * a scaling parameter can be applied to the remote. + * the commanded attitude. + * + * The trim gets subtracted here from the manual setpoint to get + * the intended attitude setpoint. Later, after the rate control step the + * trim is added again to the control signal. */ - roll_sp = _manual.roll * 0.75f; - pitch_sp = _manual.pitch * 0.75f; - throttle_sp = _manual.throttle; + roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll) + + _parameters.rollsp_offset_rad; + pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch) + + _parameters.pitchsp_offset_rad; + throttle_sp = _manual.z; _actuators.control[4] = _manual.flaps; /* @@ -685,7 +732,7 @@ FixedwingAttitudeControl::task_main() att_sp.timestamp = hrt_absolute_time(); att_sp.roll_body = roll_sp; att_sp.pitch_body = pitch_sp; - att_sp.yaw_body = 0.0f; + att_sp.yaw_body = 0.0f - _parameters.trim_yaw; att_sp.thrust = throttle_sp; /* lazily publish the setpoint only once available */ @@ -719,12 +766,12 @@ FixedwingAttitudeControl::task_main() speed_body_u, speed_body_v, speed_body_w, _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude - /* Run attitude RATE controllers which need the desired attitudes from above */ + /* Run attitude RATE controllers which need the desired attitudes from above, add trim */ float roll_u = _roll_ctrl.control_bodyrate(_att.pitch, _att.rollspeed, _att.yawspeed, _yaw_ctrl.get_desired_rate(), _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); - _actuators.control[0] = (isfinite(roll_u)) ? roll_u : 0.0f; + _actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll; if (!isfinite(roll_u)) { warnx("roll_u %.4f", roll_u); } @@ -733,34 +780,30 @@ FixedwingAttitudeControl::task_main() _att.pitchspeed, _att.yawspeed, _yaw_ctrl.get_desired_rate(), _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); - _actuators.control[1] = (isfinite(pitch_u)) ? pitch_u : 0.0f; + _actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch; if (!isfinite(pitch_u)) { warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f", - pitch_u, _yaw_ctrl.get_desired_rate(), airspeed, airspeed_scaling, roll_sp, pitch_sp, _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate(), _att_sp.roll_body); + (double)pitch_u, (double)_yaw_ctrl.get_desired_rate(), (double)airspeed, (double)airspeed_scaling, (double)roll_sp, (double)pitch_sp, (double)_roll_ctrl.get_desired_rate(), (double)_pitch_ctrl.get_desired_rate(), (double)_att_sp.roll_body); } float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch, _att.pitchspeed, _att.yawspeed, _pitch_ctrl.get_desired_rate(), _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); - _actuators.control[2] = (isfinite(yaw_u)) ? yaw_u : 0.0f; + _actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw; if (!isfinite(yaw_u)) { - warnx("yaw_u %.4f", yaw_u); + warnx("yaw_u %.4f", (double)yaw_u); } /* throttle passed through */ _actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f; if (!isfinite(throttle_sp)) { - warnx("throttle_sp %.4f", throttle_sp); + warnx("throttle_sp %.4f", (double)throttle_sp); } } else { - warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", roll_sp, pitch_sp); + warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp); } - // warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown", - // airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1], - // _actuators.control[2], _actuators.control[3]); - /* * Lazily publish the rate setpoint (for analysis, the actuators are published below) * only once available @@ -783,10 +826,10 @@ FixedwingAttitudeControl::task_main() } else { /* manual/direct control */ - _actuators.control[0] = _manual.roll; - _actuators.control[1] = _manual.pitch; - _actuators.control[2] = _manual.yaw; - _actuators.control[3] = _manual.throttle; + _actuators.control[0] = _manual.y; + _actuators.control[1] = -_manual.x; + _actuators.control[2] = _manual.r; + _actuators.control[3] = _manual.z; _actuators.control[4] = _manual.flaps; } diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 1c615094c7..aa637e2074 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -176,3 +176,23 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f); // @Description If the airspeed is above this value the TECS controller will try to decrease airspeed more aggressively // @Range 0.0 to 30 PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f); + +// @DisplayName Roll Setpoint Offset +// @Description An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe +// @Range -90.0 to 90.0 +PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f); + +// @DisplayName Pitch Setpoint Offset +// @Description An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe +// @Range -90.0 to 90.0 +PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f); + +// @DisplayName Max Manual Roll +// @Description Max roll for manual control in attitude stabilized mode +// @Range 0.0 to 90.0 +PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f); + +// @DisplayName Max Manual Pitch +// @Description Max pitch for manual control in attitude stabilized mode +// @Range 0.0 to 90.0 +PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f); diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 774758ef48..9cbc26efe6 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -89,6 +89,7 @@ #include #include #include +#include #include "landingslope.h" @@ -134,6 +135,7 @@ private: int _params_sub; /**< notification of parameter updates */ int _manual_control_sub; /**< notification of manual control updates */ int _sensor_combined_sub; /**< for body frame accelerations */ + int _range_finder_sub; /**< range finder subscription */ orb_advert_t _attitude_sp_pub; /**< attitude setpoint */ orb_advert_t _nav_capabilities_pub; /**< navigation capabilities publication */ @@ -147,13 +149,14 @@ private: struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */ struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */ + struct range_finder_report _range_finder; /**< range finder report */ perf_counter_t _loop_perf; /**< loop performance counter */ bool _setpoint_valid; /**< flag if the position control setpoint is valid */ /** manual control states */ - float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */ + float _altctrl_hold_heading; /**< heading the system should hold in altctrl mode */ double _loiter_hold_lat; double _loiter_hold_lon; float _loiter_hold_alt; @@ -181,12 +184,12 @@ private: /* Landingslope object */ Landingslope landingslope; - float flare_curve_alt_last; + float flare_curve_alt_rel_last; /* heading hold */ float target_bearing; /* Launch detection */ - LaunchDetector launchDetector; + launchdetection::LaunchDetector launchDetector; /* throttle and airspeed states */ float _airspeed_error; ///< airspeed error to setpoint in m/s @@ -239,6 +242,7 @@ private: float land_flare_alt_relative; float land_thrust_lim_alt_relative; float land_heading_hold_horizontal_distance; + float range_finder_rel_alt; } _parameters; /**< local copies of interesting parameters */ @@ -283,6 +287,7 @@ private: param_t land_flare_alt_relative; param_t land_thrust_lim_alt_relative; param_t land_heading_hold_horizontal_distance; + param_t range_finder_rel_alt; } _parameter_handles; /**< handles for interesting parameters */ @@ -308,6 +313,12 @@ private: */ bool vehicle_airspeed_poll(); + /** + * Check for range finder updates. + */ + bool range_finder_poll(); + + /** * Check for position updates. */ @@ -328,6 +339,11 @@ private: */ void navigation_capabilities_publish(); + /** + * Get the relative alt either from the difference between estimate and waypoint or from the laser range finder + */ + float get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt); + /** * Control position. */ @@ -345,17 +361,17 @@ private: /** * Main sensor collection task. */ - void task_main() __attribute__((noreturn)); + void task_main(); /* * Reset takeoff state */ - int reset_takeoff_state(); + void reset_takeoff_state(); /* * Reset landing state */ - int reset_landing_state(); + void reset_landing_state(); }; namespace l1_control @@ -384,6 +400,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _control_mode_sub(-1), _params_sub(-1), _manual_control_sub(-1), + _range_finder_sub(-1), /* publications */ _attitude_sp_pub(-1), @@ -403,7 +420,7 @@ FixedwingPositionControl::FixedwingPositionControl() : launch_detected(false), last_manual(false), usePreTakeoffThrust(false), - flare_curve_alt_last(0.0f), + flare_curve_alt_rel_last(0.0f), launchDetector(), _airspeed_error(0.0f), _airspeed_valid(false), @@ -417,7 +434,8 @@ FixedwingPositionControl::FixedwingPositionControl() : _control_mode(), _global_pos(), _pos_sp_triplet(), - _sensor_combined() + _sensor_combined(), + _range_finder() { _nav_capabilities.turn_distance = 0.0f; @@ -442,6 +460,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT"); _parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT"); _parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST"); + _parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT"); _parameter_handles.time_const = param_find("FW_T_TIME_CONST"); _parameter_handles.min_sink_rate = param_find("FW_T_SINK_MIN"); @@ -531,6 +550,8 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative)); param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance)); + param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt)); + _l1_control.set_l1_damping(_parameters.l1_damping); _l1_control.set_l1_period(_parameters.l1_period); _l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit)); @@ -626,6 +647,20 @@ FixedwingPositionControl::vehicle_airspeed_poll() return airspeed_updated; } +bool +FixedwingPositionControl::range_finder_poll() +{ + /* check if there is a range finder measurement */ + bool range_finder_updated; + orb_check(_range_finder_sub, &range_finder_updated); + + if (range_finder_updated) { + orb_copy(ORB_ID(sensor_range_finder), _range_finder_sub, &_range_finder); + } + + return range_finder_updated; +} + void FixedwingPositionControl::vehicle_attitude_poll() { @@ -754,6 +789,23 @@ void FixedwingPositionControl::navigation_capabilities_publish() } } +float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt) +{ + float rel_alt_estimated = current_alt - land_setpoint_alt; + + /* only use range finder if: + * parameter (range_finder_use_relative_alt) > 0 + * the measurement is valid + * the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt + */ + if (range_finder_use_relative_alt < 0 || !range_finder.valid || rel_alt_estimated > range_finder_use_relative_alt ) { + return rel_alt_estimated; + } + + return range_finder.distance; + +} + bool FixedwingPositionControl::control_position(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet) @@ -896,12 +948,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */ float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); - float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt); + float L_altitude_rel = landingslope.getLandingSlopeRelativeAltitude(L_wp_distance); float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); - float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt); + float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp); - if ( (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out + float relative_alt = get_relative_landingalt(_pos_sp_triplet.current.alt, _global_pos.alt, _range_finder, _parameters.range_finder_rel_alt); + + if ( (relative_alt < landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out /* land with minimal speed */ @@ -911,7 +965,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* kill the throttle if param requests it */ throttle_max = _parameters.throttle_max; - if (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.motor_lim_relative_alt() || land_motor_lim) { + if (relative_alt < landingslope.motor_lim_relative_alt() || land_motor_lim) { throttle_max = math::min(throttle_max, _parameters.throttle_land_max); if (!land_motor_lim) { land_motor_lim = true; @@ -920,16 +974,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } - float flare_curve_alt = landingslope.getFlareCurveAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt); + float flare_curve_alt_rel = landingslope.getFlareCurveRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp); /* avoid climbout */ - if ((flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical) || land_stayonground) + if ((flare_curve_alt_rel_last < flare_curve_alt_rel && land_noreturn_vertical) || land_stayonground) { - flare_curve_alt = pos_sp_triplet.current.alt; + flare_curve_alt_rel = 0.0f; // stay on ground land_stayonground = true; } - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, flare_curve_alt, calculate_target_airspeed(airspeed_land), + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + flare_curve_alt_rel, calculate_target_airspeed(airspeed_land), _airspeed.indicated_airspeed_m_s, eas2tas, false, flare_pitch_angle_rad, 0.0f, throttle_max, throttle_land, @@ -941,7 +995,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } //warnx("Landing: flare, _global_pos.alt %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance); - flare_curve_alt_last = flare_curve_alt; + flare_curve_alt_rel_last = flare_curve_alt_rel; } else { /* intersect glide slope: @@ -949,20 +1003,20 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi * if current position is higher or within 10m of slope follow the glide slope * if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope * */ - float altitude_desired = _global_pos.alt; - if (_global_pos.alt > landing_slope_alt_desired - 10.0f) { + float altitude_desired_rel = relative_alt; + if (relative_alt > landing_slope_alt_rel_desired - 10.0f) { /* stay on slope */ - altitude_desired = landing_slope_alt_desired; + altitude_desired_rel = landing_slope_alt_rel_desired; if (!land_onslope) { mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope"); land_onslope = true; } } else { /* continue horizontally */ - altitude_desired = math::max(_global_pos.alt, L_altitude); + altitude_desired_rel = math::max(relative_alt, L_altitude_rel); } - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach), + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach), _airspeed.indicated_airspeed_m_s, eas2tas, false, math::radians(_parameters.pitch_limit_min), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, @@ -989,6 +1043,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } else { /* no takeoff detection --> fly */ launch_detected = true; + warnx("launchdetection off"); } } @@ -1050,16 +1105,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_reset_integral = true; } - } else if (0/* easy mode enabled */) { + } else if (0/* posctrl mode enabled */) { - /** EASY FLIGHT **/ + /** POSCTRL FLIGHT **/ - if (0/* switched from another mode to easy */) { - _seatbelt_hold_heading = _att.yaw; + if (0/* switched from another mode to posctrl */) { + _altctrl_hold_heading = _att.yaw; } - if (0/* easy on and manual control yaw non-zero */) { - _seatbelt_hold_heading = _att.yaw + _manual.yaw; + if (0/* posctrl on and manual control yaw non-zero */) { + _altctrl_hold_heading = _att.yaw + _manual.r; } //XXX not used @@ -1072,44 +1127,44 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // climb_out = true; // } - /* if in seatbelt mode, set airspeed based on manual control */ + /* if in altctrl mode, set airspeed based on manual control */ // XXX check if ground speed undershoot should be applied here - float seatbelt_airspeed = _parameters.airspeed_min + + float altctrl_airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) * - _manual.throttle; + _manual.z; - _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); + _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - seatbelt_airspeed, + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f, + altctrl_airspeed, _airspeed.indicated_airspeed_m_s, eas2tas, false, _parameters.pitch_limit_min, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, _parameters.pitch_limit_min, _parameters.pitch_limit_max); - } else if (0/* seatbelt mode enabled */) { + } else if (0/* altctrl mode enabled */) { - /** SEATBELT FLIGHT **/ + /** ALTCTRL FLIGHT **/ - if (0/* switched from another mode to seatbelt */) { - _seatbelt_hold_heading = _att.yaw; + if (0/* switched from another mode to altctrl */) { + _altctrl_hold_heading = _att.yaw; } - if (0/* seatbelt on and manual control yaw non-zero */) { - _seatbelt_hold_heading = _att.yaw + _manual.yaw; + if (0/* altctrl on and manual control yaw non-zero */) { + _altctrl_hold_heading = _att.yaw + _manual.r; } - /* if in seatbelt mode, set airspeed based on manual control */ + /* if in altctrl mode, set airspeed based on manual control */ // XXX check if ground speed undershoot should be applied here - float seatbelt_airspeed = _parameters.airspeed_min + + float altctrl_airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) * - _manual.throttle; + _manual.z; /* user switched off throttle */ - if (_manual.throttle < 0.1f) { + if (_manual.z < 0.1f) { throttle_max = 0.0f; /* switch to pure pitch based altitude control, give up speed */ _tecs.set_speed_weight(0.0f); @@ -1119,15 +1174,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi bool climb_out = false; /* user wants to climb out */ - if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) { + if (_manual.x > 0.3f && _manual.z > 0.8f) { climb_out = true; } - _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); - _att_sp.roll_body = _manual.roll; - _att_sp.yaw_body = _manual.yaw; - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - seatbelt_airspeed, + _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed); + _att_sp.roll_body = _manual.y; + _att_sp.yaw_body = _manual.r; + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f, + altctrl_airspeed, _airspeed.indicated_airspeed_m_s, eas2tas, climb_out, _parameters.pitch_limit_min, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, @@ -1184,6 +1239,7 @@ FixedwingPositionControl::task_main() _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + _range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); /* rate limit vehicle status updates to 5Hz */ orb_set_interval(_control_mode_sub, 200); @@ -1263,6 +1319,7 @@ FixedwingPositionControl::task_main() vehicle_setpoint_poll(); vehicle_sensor_combined_poll(); vehicle_airspeed_poll(); + range_finder_poll(); // vehicle_baro_poll(); math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e); @@ -1311,14 +1368,14 @@ FixedwingPositionControl::task_main() _exit(0); } -int FixedwingPositionControl::reset_takeoff_state() +void FixedwingPositionControl::reset_takeoff_state() { launch_detected = false; usePreTakeoffThrust = false; launchDetector.reset(); } -int FixedwingPositionControl::reset_landing_state() +void FixedwingPositionControl::reset_landing_state() { land_noreturn_horizontal = false; land_noreturn_vertical = false; diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 0909135e15..f258f77dab 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -245,7 +245,7 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); /** * Maximum vertical acceleration * - * This is the maximum vertical acceleration (in metres/second^2) + * This is the maximum vertical acceleration (in metres/second square) * either up or down that the controller will use to correct speed * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) * allows for reasonably aggressive pitch changes if required to recover @@ -375,3 +375,14 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); * @group L1 Control */ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); + +/** + * Relative altitude threshold for range finder measurements for use during landing + * + * range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT + * set to < 0 to disable + * the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f); diff --git a/src/modules/fw_pos_control_l1/landingslope.cpp b/src/modules/fw_pos_control_l1/landingslope.cpp index e5f7023ae1..8ce465fe8c 100644 --- a/src/modules/fw_pos_control_l1/landingslope.cpp +++ b/src/modules/fw_pos_control_l1/landingslope.cpp @@ -69,26 +69,46 @@ void Landingslope::calculateSlopeValues() _horizontal_slope_displacement = (_flare_length - _d1); } -float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude) +float Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance) { - return Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad); + return Landingslope::getLandingSlopeRelativeAltitude(wp_landing_distance, _horizontal_slope_displacement, _landing_slope_angle_rad); } -float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude) +float Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp) { /* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */ if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) - return getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude); + return getLandingSlopeRelativeAltitude(wp_landing_distance); + else + return 0.0f; +} + +float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_altitude) +{ + return Landingslope::getLandingSlopeAbsoluteAltitude(wp_landing_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad); +} + +float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude) +{ + /* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */ + if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) + return getLandingSlopeAbsoluteAltitude(wp_landing_distance, wp_altitude); else return wp_altitude; } -float Landingslope::getFlareCurveAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude) +float Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp) { /* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */ if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) - return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt; + return _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt; else - return wp_landing_altitude; + return 0.0f; +} + +float Landingslope::getFlareCurveAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude) +{ + + return wp_landing_altitude + getFlareCurveRelativeAltitudeSave(wp_landing_distance, bearing_lastwp_currwp, bearing_airplane_currwp); } diff --git a/src/modules/fw_pos_control_l1/landingslope.h b/src/modules/fw_pos_control_l1/landingslope.h index 76d65a55f2..b54fd501cf 100644 --- a/src/modules/fw_pos_control_l1/landingslope.h +++ b/src/modules/fw_pos_control_l1/landingslope.h @@ -63,11 +63,26 @@ public: Landingslope() {} ~Landingslope() {} + + /** + * + * @return relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance + */ + float getLandingSlopeRelativeAltitude(float wp_landing_distance); + + /** + * + * @return relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance + * Performs check if aircraft is in front of waypoint to avoid climbout + */ + float getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp); + + /** * * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance */ - float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude); + float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_altitude); /** * @@ -76,13 +91,22 @@ public: */ float getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude); + /** + * + * @return Relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance + */ + __EXPORT static float getLandingSlopeRelativeAltitude(float wp_landing_distance, float horizontal_slope_displacement, float landing_slope_angle_rad) + { + return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad); //flare_relative_alt is negative + } + /** * * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance */ __EXPORT static float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude, float horizontal_slope_displacement, float landing_slope_angle_rad) { - return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad) + wp_landing_altitude; //flare_relative_alt is negative + return getLandingSlopeRelativeAltitude(wp_landing_distance, horizontal_slope_displacement, landing_slope_angle_rad) + wp_landing_altitude; } /** @@ -95,8 +119,9 @@ public: } + float getFlareCurveRelativeAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp); - float getFlareCurveAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude); + float getFlareCurveAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude); void update(float landing_slope_angle_rad, float flare_relative_alt, diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c index d383146f99..6dfd22fdff 100644 --- a/src/modules/gpio_led/gpio_led.c +++ b/src/modules/gpio_led/gpio_led.c @@ -51,7 +51,6 @@ #include #include #include -#include #include #include #include @@ -63,8 +62,6 @@ struct gpio_led_s { int pin; struct vehicle_status_s status; int vehicle_status_sub; - struct actuator_armed_s armed; - int actuator_armed_sub; bool led_state; int counter; }; @@ -81,6 +78,7 @@ void gpio_led_cycle(FAR void *arg); int gpio_led_main(int argc, char *argv[]) { if (argc < 2) { +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 errx(1, "usage: gpio_led {start|stop} [-p <1|2|a1|a2|r1|r2>]\n" "\t-p\tUse pin:\n" "\t\t1\tPX4FMU GPIO_EXT1 (default)\n" @@ -88,7 +86,14 @@ int gpio_led_main(int argc, char *argv[]) "\t\ta1\tPX4IO ACC1\n" "\t\ta2\tPX4IO ACC2\n" "\t\tr1\tPX4IO RELAY1\n" - "\t\tr2\tPX4IO RELAY2"); + "\t\tr2\tPX4IO RELAY2" + ); +#endif +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + errx(1, "usage: gpio_led {start|stop} [-p ]\n" + "\t-p \tUse specified AUX OUT pin number (default: 1)" + ); +#endif } else { @@ -98,37 +103,70 @@ int gpio_led_main(int argc, char *argv[]) } bool use_io = false; - int pin = GPIO_EXT_1; + + /* by default use GPIO_EXT_1 on FMUv1 and GPIO_SERVO_1 on FMUv2 */ + int pin = 1; + + /* pin name to display */ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 + char *pin_name = "PX4FMU GPIO_EXT1"; +#endif +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + char pin_name[] = "AUX OUT 1"; +#endif if (argc > 2) { if (!strcmp(argv[2], "-p")) { +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 + if (!strcmp(argv[3], "1")) { use_io = false; pin = GPIO_EXT_1; + pin_name = "PX4FMU GPIO_EXT1"; } else if (!strcmp(argv[3], "2")) { use_io = false; pin = GPIO_EXT_2; + pin_name = "PX4FMU GPIO_EXT2"; } else if (!strcmp(argv[3], "a1")) { use_io = true; pin = PX4IO_P_SETUP_RELAYS_ACC1; + pin_name = "PX4IO ACC1"; } else if (!strcmp(argv[3], "a2")) { use_io = true; pin = PX4IO_P_SETUP_RELAYS_ACC2; + pin_name = "PX4IO ACC2"; } else if (!strcmp(argv[3], "r1")) { use_io = true; pin = PX4IO_P_SETUP_RELAYS_POWER1; + pin_name = "PX4IO RELAY1"; } else if (!strcmp(argv[3], "r2")) { use_io = true; pin = PX4IO_P_SETUP_RELAYS_POWER2; + pin_name = "PX4IO RELAY2"; } else { errx(1, "unsupported pin: %s", argv[3]); } + +#endif +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + unsigned int n = strtoul(argv[3], NULL, 10); + + if (n >= 1 && n <= 6) { + use_io = false; + pin = 1 << (n - 1); + snprintf(pin_name, sizeof(pin_name), "AUX OUT %d", n); + + } else { + errx(1, "unsupported pin: %s", argv[3]); + } + +#endif } } @@ -142,21 +180,6 @@ int gpio_led_main(int argc, char *argv[]) } else { gpio_led_started = true; - char pin_name[24]; - - if (use_io) { - if (pin & (PX4IO_P_SETUP_RELAYS_ACC1 | PX4IO_P_SETUP_RELAYS_ACC2)) { - sprintf(pin_name, "PX4IO ACC%i", (pin >> 3)); - - } else { - sprintf(pin_name, "PX4IO RELAY%i", pin); - } - - } else { - sprintf(pin_name, "PX4FMU GPIO_EXT%i", pin); - - } - warnx("start, using pin: %s", pin_name); } @@ -186,6 +209,7 @@ void gpio_led_start(FAR void *arg) if (priv->use_io) { gpio_dev = PX4IO_DEVICE_PATH; + } else { gpio_dev = PX4FMU_DEVICE_PATH; } @@ -204,8 +228,10 @@ void gpio_led_start(FAR void *arg) /* px4fmu only, px4io doesn't support GPIO_SET_OUTPUT and will ignore */ ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin); - /* subscribe to vehicle status topic */ + /* initialize vehicle status structure */ memset(&priv->status, 0, sizeof(priv->status)); + + /* subscribe to vehicle status topic */ priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); /* add worker to queue */ @@ -224,38 +250,33 @@ void gpio_led_cycle(FAR void *arg) FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg; /* check for status updates*/ - bool status_updated; - orb_check(priv->vehicle_status_sub, &status_updated); + bool updated; + orb_check(priv->vehicle_status_sub, &updated); - if (status_updated) + if (updated) { orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status); - - orb_check(priv->vehicle_status_sub, &status_updated); - - if (status_updated) - orb_copy(ORB_ID(actuator_armed), priv->actuator_armed_sub, &priv->armed); + } /* select pattern for current status */ int pattern = 0; - if (priv->armed.armed) { - if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) { + if (priv->status.arming_state == ARMING_STATE_ARMED_ERROR) { + pattern = 0x2A; // *_*_*_ fast blink (armed, error) + + } else if (priv->status.arming_state == ARMING_STATE_ARMED) { + if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE && priv->status.failsafe_state == FAILSAFE_STATE_NORMAL) { pattern = 0x3f; // ****** solid (armed) } else { - pattern = 0x2A; // *_*_*_ fast blink (armed, battery warning) + pattern = 0x3e; // *****_ slow blink (armed, battery low or failsafe) } - } else { - if (priv->armed.ready_to_arm) { - pattern = 0x00; // ______ off (disarmed, preflight check) + } else if (priv->status.arming_state == ARMING_STATE_STANDBY) { + pattern = 0x38; // ***___ slow blink (disarmed, ready) - } else if (priv->armed.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) { - pattern = 0x38; // ***___ slow blink (disarmed, ready) + } else if (priv->status.arming_state == ARMING_STATE_STANDBY_ERROR) { + pattern = 0x28; // *_*___ slow double blink (disarmed, error) - } else { - pattern = 0x28; // *_*___ slow double blink (disarmed, not good to arm) - } } /* blink pattern */ @@ -266,6 +287,7 @@ void gpio_led_cycle(FAR void *arg) if (led_state_new) { ioctl(priv->gpio_fd, GPIO_SET, priv->pin); + } else { ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin); } @@ -273,8 +295,9 @@ void gpio_led_cycle(FAR void *arg) priv->counter++; - if (priv->counter > 5) + if (priv->counter > 5) { priv->counter = 0; + } /* repeat cycle at 5 Hz */ if (gpio_led_started) { diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 176ecb8a89..e49288a746 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,46 +33,18 @@ /** * @file mavlink.c - * MAVLink 1.0 protocol implementation. + * Adapter functions expected by the protocol library * * @author Lorenz Meier */ #include #include -#include #include -#include #include -#include -#include #include #include "mavlink_bridge_header.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - #include -#include -#include -#include -#include - -#include "waypoints.h" -#include "orb_topics.h" -#include "mavlink_hil.h" -#include "util.h" -#include "waypoints.h" -#include "mavlink_parameters.h" - -#include /* define MAVLink specific parameters */ /** @@ -91,22 +62,12 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50); * @group MAVLink */ PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); - -__EXPORT int mavlink_main(int argc, char *argv[]); - -static int mavlink_thread_main(int argc, char *argv[]); - -/* thread state */ -volatile bool thread_should_exit = false; -static volatile bool thread_running = false; -static int mavlink_task; - -/* pthreads */ -static pthread_t receive_thread; -static pthread_t uorb_receive_thread; - -/* terminate MAVLink on user request - disabled by default */ -static bool mavlink_link_termination_allowed = false; +/** + * Use/Accept HIL GPS message (even if not in HIL mode) + * If set to 1 incomming HIL GPS messages are parsed. + * @group MAVLink + */ +PARAM_DEFINE_INT32(MAV_USEHILGPS, 0); mavlink_system_t mavlink_system = { 100, @@ -117,365 +78,6 @@ mavlink_system_t mavlink_system = { 0 }; // System ID, 1-255, Component/Subsystem ID, 1-255 -/* XXX not widely used */ -uint8_t chan = MAVLINK_COMM_0; - -/* XXX probably should be in a header... */ -extern pthread_t receive_start(int uart); - -/* Allocate storage space for waypoints */ -static mavlink_wpm_storage wpm_s; -mavlink_wpm_storage *wpm = &wpm_s; - -bool mavlink_hil_enabled = false; - -/* protocol interface */ -static int uart; -static int baudrate; -bool gcs_link = true; - -/* interface mode */ -static enum { - MAVLINK_INTERFACE_MODE_OFFBOARD, - MAVLINK_INTERFACE_MODE_ONBOARD -} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD; - -static struct mavlink_logbuffer lb; - -static void mavlink_update_system(void); -static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); -static void usage(void); -int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval); - - - -int -set_hil_on_off(bool hil_enabled) -{ - int ret = OK; - - /* Enable HIL */ - if (hil_enabled && !mavlink_hil_enabled) { - - mavlink_hil_enabled = true; - - /* ramp up some HIL-related subscriptions */ - unsigned hil_rate_interval; - - if (baudrate < 19200) { - /* 10 Hz */ - hil_rate_interval = 100; - - } else if (baudrate < 38400) { - /* 10 Hz */ - hil_rate_interval = 100; - - } else if (baudrate < 115200) { - /* 20 Hz */ - hil_rate_interval = 50; - - } else { - /* 200 Hz */ - hil_rate_interval = 5; - } - - orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval); - } - - if (!hil_enabled && mavlink_hil_enabled) { - mavlink_hil_enabled = false; - orb_set_interval(mavlink_subs.spa_sub, 200); - - } else { - ret = ERROR; - } - - return ret; -} - -void -get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode) -{ - /* reset MAVLink mode bitfield */ - *mavlink_base_mode = 0; - *mavlink_custom_mode = 0; - - /** - * Set mode flags - **/ - - /* HIL */ - if (v_status.hil_state == HIL_STATE_ON) { - *mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED; - } - - /* arming state */ - if (armed.armed) { - *mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; - } - - /* main state */ - *mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; - union px4_custom_mode custom_mode; - custom_mode.data = 0; - if (pos_sp_triplet.nav_state == NAV_STATE_NONE) { - /* use main state when navigator is not active */ - if (v_status.main_state == MAIN_STATE_MANUAL) { - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; - } else if (v_status.main_state == MAIN_STATE_ACRO) { - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; - } else if (v_status.main_state == MAIN_STATE_SEATBELT) { - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; - } else if (v_status.main_state == MAIN_STATE_EASY) { - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY; - } else if (v_status.main_state == MAIN_STATE_AUTO) { - *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; - } - } else { - /* use navigation state when navigator is active */ - *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - if (pos_sp_triplet.nav_state == NAV_STATE_READY) { - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; - } else if (pos_sp_triplet.nav_state == NAV_STATE_LOITER) { - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; - } else if (pos_sp_triplet.nav_state == NAV_STATE_MISSION) { - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; - } else if (pos_sp_triplet.nav_state == NAV_STATE_RTL) { - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; - } else if (pos_sp_triplet.nav_state == NAV_STATE_LAND) { - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; - } - } - *mavlink_custom_mode = custom_mode.data; - - /** - * Set mavlink state - **/ - - /* set calibration state */ - if (v_status.arming_state == ARMING_STATE_INIT - || v_status.arming_state == ARMING_STATE_IN_AIR_RESTORE - || v_status.arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review - *mavlink_state = MAV_STATE_UNINIT; - } else if (v_status.arming_state == ARMING_STATE_ARMED) { - *mavlink_state = MAV_STATE_ACTIVE; - } else if (v_status.arming_state == ARMING_STATE_ARMED_ERROR) { - *mavlink_state = MAV_STATE_CRITICAL; - } else if (v_status.arming_state == ARMING_STATE_STANDBY) { - *mavlink_state = MAV_STATE_STANDBY; - } else if (v_status.arming_state == ARMING_STATE_REBOOT) { - *mavlink_state = MAV_STATE_POWEROFF; - } else { - warnx("Unknown mavlink state"); - *mavlink_state = MAV_STATE_CRITICAL; - } -} - - -int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval) -{ - int ret = OK; - - switch (mavlink_msg_id) { - case MAVLINK_MSG_ID_SCALED_IMU: - /* sensor sub triggers scaled IMU */ - orb_set_interval(subs->sensor_sub, min_interval); - break; - - case MAVLINK_MSG_ID_HIGHRES_IMU: - /* sensor sub triggers highres IMU */ - orb_set_interval(subs->sensor_sub, min_interval); - break; - - case MAVLINK_MSG_ID_RAW_IMU: - /* sensor sub triggers RAW IMU */ - orb_set_interval(subs->sensor_sub, min_interval); - break; - - case MAVLINK_MSG_ID_ATTITUDE: - /* attitude sub triggers attitude */ - orb_set_interval(subs->att_sub, min_interval); - break; - - case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: - /* actuator_outputs triggers this message */ - orb_set_interval(subs->act_0_sub, min_interval); - orb_set_interval(subs->act_1_sub, min_interval); - orb_set_interval(subs->act_2_sub, min_interval); - orb_set_interval(subs->act_3_sub, min_interval); - orb_set_interval(subs->actuators_sub, min_interval); - orb_set_interval(subs->actuators_effective_sub, min_interval); - orb_set_interval(subs->spa_sub, min_interval); - orb_set_interval(mavlink_subs.rates_setpoint_sub, min_interval); - break; - - case MAVLINK_MSG_ID_MANUAL_CONTROL: - /* manual_control_setpoint triggers this message */ - orb_set_interval(subs->man_control_sp_sub, min_interval); - break; - - case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: - orb_set_interval(subs->debug_key_value, min_interval); - break; - - default: - /* not found */ - ret = ERROR; - break; - } - - return ret; -} - - -/**************************************************************************** - * MAVLink text message logger - ****************************************************************************/ - -static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); - -static const struct file_operations mavlink_fops = { - .ioctl = mavlink_dev_ioctl -}; - -static int -mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) -{ - static unsigned int total_counter = 0; - - switch (cmd) { - case (int)MAVLINK_IOC_SEND_TEXT_INFO: - case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL: - case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: { - const char *txt = (const char *)arg; - struct mavlink_logmessage msg; - strncpy(msg.text, txt, sizeof(msg.text)); - mavlink_logbuffer_write(&lb, &msg); - total_counter++; - return OK; - } - - default: - return ENOTTY; - } -} - -#define MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED 0x10 - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) -{ - /* process baud rate */ - int speed; - - switch (baud) { - case 0: speed = B0; break; - - case 50: speed = B50; break; - - case 75: speed = B75; break; - - case 110: speed = B110; break; - - case 134: speed = B134; break; - - case 150: speed = B150; break; - - case 200: speed = B200; break; - - case 300: speed = B300; break; - - case 600: speed = B600; break; - - case 1200: speed = B1200; break; - - case 1800: speed = B1800; break; - - case 2400: speed = B2400; break; - - case 4800: speed = B4800; break; - - case 9600: speed = B9600; break; - - case 19200: speed = B19200; break; - - case 38400: speed = B38400; break; - - case 57600: speed = B57600; break; - - case 115200: speed = B115200; break; - - case 230400: speed = B230400; break; - - case 460800: speed = B460800; break; - - case 921600: speed = B921600; break; - - default: - warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud); - return -EINVAL; - } - - /* open uart */ - warnx("UART is %s, baudrate is %d\n", uart_name, baud); - uart = open(uart_name, O_RDWR | O_NOCTTY); - - /* Try to set baud rate */ - struct termios uart_config; - int termios_state; - *is_usb = false; - - /* Back up the original uart configuration to restore it after exit */ - if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - warnx("ERROR get termios config %s: %d\n", uart_name, termios_state); - close(uart); - return -1; - } - - /* Fill the struct for the new configuration */ - tcgetattr(uart, &uart_config); - - /* Clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - - /* USB serial is indicated by /dev/ttyACM0*/ - if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) { - - /* Set baud rate */ - if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); - close(uart); - return -1; - } - - } - - if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); - close(uart); - return -1; - } - - return uart; -} - -void -mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length) -{ - write(uart, ch, (size_t)(sizeof(uint8_t) * length)); -} - /* * Internal function to give access to the channel status for each channel */ @@ -493,362 +95,3 @@ extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel) static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS]; return &m_mavlink_buffer[channel]; } - -void mavlink_update_system(void) -{ - static bool initialized = false; - static param_t param_system_id; - static param_t param_component_id; - static param_t param_system_type; - - if (!initialized) { - param_system_id = param_find("MAV_SYS_ID"); - param_component_id = param_find("MAV_COMP_ID"); - param_system_type = param_find("MAV_TYPE"); - initialized = true; - } - - /* update system and component id */ - int32_t system_id; - param_get(param_system_id, &system_id); - - if (system_id > 0 && system_id < 255) { - mavlink_system.sysid = system_id; - } - - int32_t component_id; - param_get(param_component_id, &component_id); - - if (component_id > 0 && component_id < 255) { - mavlink_system.compid = component_id; - } - - int32_t system_type; - param_get(param_system_type, &system_type); - - if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { - mavlink_system.type = system_type; - } -} - -/** - * MAVLink Protocol main function. - */ -int mavlink_thread_main(int argc, char *argv[]) -{ - /* initialize mavlink text message buffering */ - mavlink_logbuffer_init(&lb, 10); - - int ch; - char *device_name = "/dev/ttyS1"; - baudrate = 57600; - - /* work around some stupidity in task_create's argv handling */ - argc -= 2; - argv += 2; - - while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) { - switch (ch) { - case 'b': - baudrate = strtoul(optarg, NULL, 10); - - if (baudrate < 9600 || baudrate > 921600) - errx(1, "invalid baud rate '%s'", optarg); - - break; - - case 'd': - device_name = optarg; - break; - - case 'e': - mavlink_link_termination_allowed = true; - break; - - case 'o': - mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD; - break; - - default: - usage(); - break; - } - } - - struct termios uart_config_original; - - bool usb_uart; - - /* print welcome text */ - warnx("MAVLink v1.0 serial interface starting..."); - - /* inform about mode */ - warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE"); - - /* Flush stdout in case MAVLink is about to take it over */ - fflush(stdout); - - /* default values for arguments */ - uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart); - - if (uart < 0) - err(1, "could not open %s", device_name); - - /* create the device node that's used for sending text log messages, etc. */ - register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL); - - /* Initialize system properties */ - mavlink_update_system(); - - /* start the MAVLink receiver */ - receive_thread = receive_start(uart); - - /* start the ORB receiver */ - uorb_receive_thread = uorb_receive_start(); - - /* initialize waypoint manager */ - mavlink_wpm_init(wpm); - - /* all subscriptions are now active, set up initial guess about rate limits */ - if (baudrate >= 230400) { - /* 200 Hz / 5 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20); - /* 50 Hz / 20 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30); - /* 20 Hz / 50 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); - /* 10 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100); - /* 10 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); - - } else if (baudrate >= 115200) { - /* 20 Hz / 50 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200); - /* 2 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); - - } else if (baudrate >= 57600) { - /* 10 Hz / 100 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 300); - /* 10 Hz / 100 ms ATTITUDE */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500); - /* 2 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); - /* 2 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500); - - } else { - /* very low baud rate, limit to 1 Hz / 1000 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000); - /* 1 Hz / 1000 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000); - /* 0.5 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000); - /* 0.1 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000); - } - - int mission_result_sub = orb_subscribe(ORB_ID(mission_result)); - struct mission_result_s mission_result; - memset(&mission_result, 0, sizeof(mission_result)); - - thread_running = true; - - /* arm counter to go off immediately */ - unsigned lowspeed_counter = 10; - - while (!thread_should_exit) { - - /* 1 Hz */ - if (lowspeed_counter == 10) { - mavlink_update_system(); - - /* translate the current system state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_base_mode = 0; - uint32_t mavlink_custom_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - - /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_base_mode, mavlink_custom_mode, mavlink_state); - - /* switch HIL mode if required */ - if (v_status.hil_state == HIL_STATE_ON) - set_hil_on_off(true); - else if (v_status.hil_state == HIL_STATE_OFF) - set_hil_on_off(false); - - /* send status (values already copied in the section above) */ - mavlink_msg_sys_status_send(chan, - v_status.onboard_control_sensors_present, - v_status.onboard_control_sensors_enabled, - v_status.onboard_control_sensors_health, - v_status.load * 1000.0f, - v_status.battery_voltage * 1000.0f, - v_status.battery_current * 100.0f, - v_status.battery_remaining * 100.0f, - v_status.drop_rate_comm, - v_status.errors_comm, - v_status.errors_count1, - v_status.errors_count2, - v_status.errors_count3, - v_status.errors_count4); - lowspeed_counter = 0; - } - - lowspeed_counter++; - - bool updated; - orb_check(mission_result_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result); - - if (mission_result.mission_reached) { - mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index); - } - } - - mavlink_waypoint_eventloop(hrt_absolute_time()); - - /* sleep quarter the time */ - usleep(25000); - - /* check if waypoint has been reached against the last positions */ - mavlink_waypoint_eventloop(hrt_absolute_time()); - - /* sleep quarter the time */ - usleep(25000); - - /* send parameters at 20 Hz (if queued for sending) */ - mavlink_pm_queued_send(); - mavlink_waypoint_eventloop(hrt_absolute_time()); - - /* sleep quarter the time */ - usleep(25000); - - mavlink_waypoint_eventloop(hrt_absolute_time()); - - if (baudrate > 57600) { - mavlink_pm_queued_send(); - } - - /* sleep 10 ms */ - usleep(10000); - - /* send one string at 10 Hz */ - if (!mavlink_logbuffer_is_empty(&lb)) { - struct mavlink_logmessage msg; - int lb_ret = mavlink_logbuffer_read(&lb, &msg); - - if (lb_ret == OK) { - mavlink_missionlib_send_gcs_string(msg.text); - } - } - - /* sleep 15 ms */ - usleep(15000); - } - - /* wait for threads to complete */ - pthread_join(receive_thread, NULL); - pthread_join(uorb_receive_thread, NULL); - - /* Reset the UART flags to original state */ - tcsetattr(uart, TCSANOW, &uart_config_original); - - /* destroy log buffer */ - //mavlink_logbuffer_destroy(&lb); - - thread_running = false; - - return 0; -} - -static void -usage() -{ - fprintf(stderr, "usage: mavlink start [-d ] [-b ]\n" - " mavlink stop\n" - " mavlink status\n"); - exit(1); -} - -int mavlink_main(int argc, char *argv[]) -{ - - if (argc < 2) { - warnx("missing command"); - usage(); - } - - if (!strcmp(argv[1], "start")) { - - /* this is not an error */ - if (thread_running) - errx(0, "mavlink already running"); - - thread_should_exit = false; - mavlink_task = task_spawn_cmd("mavlink", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - mavlink_thread_main, - (const char **)argv); - - while (!thread_running) { - usleep(200); - } - - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - - /* this is not an error */ - if (!thread_running) - errx(0, "mavlink already stopped"); - - thread_should_exit = true; - - while (thread_running) { - usleep(200000); - warnx("."); - } - - warnx("terminated."); - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - errx(0, "running"); - - } else { - errx(1, "not running"); - } - } - - warnx("unrecognized command"); - usage(); - /* not getting here */ - return 0; -} - diff --git a/src/modules/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h index 149efda60d..374d1511c1 100644 --- a/src/modules/mavlink/mavlink_bridge_header.h +++ b/src/modules/mavlink/mavlink_bridge_header.h @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -43,6 +42,8 @@ #ifndef MAVLINK_BRIDGE_HEADER_H #define MAVLINK_BRIDGE_HEADER_H +__BEGIN_DECLS + #define MAVLINK_USE_CONVENIENCE_FUNCTIONS /* use efficient approach, see mavlink_helpers.h */ @@ -73,11 +74,13 @@ extern mavlink_system_t mavlink_system; * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0 * @param ch Character to send */ -extern void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length); +void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length); extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan); extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan); #include +__END_DECLS + #endif /* MAVLINK_BRIDGE_HEADER_H */ diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.c b/src/modules/mavlink/mavlink_commands.cpp old mode 100755 new mode 100644 similarity index 60% rename from src/modules/position_estimator_mc/position_estimator_mc_params.c rename to src/modules/mavlink/mavlink_commands.cpp index 72e5bc73b7..1c1e097a43 --- a/src/modules/position_estimator_mc/position_estimator_mc_params.c +++ b/src/modules/mavlink/mavlink_commands.cpp @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Damian Aregger - * Tobias Naegeli -* Lorenz Meier + * Copyright (c) 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,35 +31,43 @@ * ****************************************************************************/ -/* - * @file position_estimator_mc_params.c - * - * Parameters for position_estimator_mc +/** + * @file mavlink_commands.cpp + * Mavlink commands stream implementation. + * + * @author Anton Babushkin */ -#include "position_estimator_mc_params.h" +#include "mavlink_commands.h" -/* Kalman Filter covariances */ -/* gps measurement noise standard deviation */ -PARAM_DEFINE_FLOAT(POS_EST_ADDN, 1.0f); -PARAM_DEFINE_FLOAT(POS_EST_SIGMA, 0.0f); -PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f); -PARAM_DEFINE_INT32(POS_EST_BARO, 0.0f); - -int parameters_init(struct position_estimator_mc_param_handles *h) +MavlinkCommandsStream::MavlinkCommandsStream(Mavlink *mavlink, mavlink_channel_t channel) : _channel(channel) { - h->addNoise = param_find("POS_EST_ADDN"); - h->sigma = param_find("POS_EST_SIGMA"); - h->r = param_find("POS_EST_R"); - h->baro_param_handle = param_find("POS_EST_BARO"); - return OK; + _cmd_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_command)); + _cmd = (struct vehicle_command_s *)_cmd_sub->get_data(); } -int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p) +MavlinkCommandsStream::~MavlinkCommandsStream() { - param_get(h->addNoise, &(p->addNoise)); - param_get(h->sigma, &(p->sigma)); - param_get(h->r, &(p->R)); - param_get(h->baro_param_handle, &(p->baro)); - return OK; +} + +void +MavlinkCommandsStream::update(const hrt_abstime t) +{ + if (_cmd_sub->update(t)) { + /* only send commands for other systems/components */ + if (_cmd->target_system != mavlink_system.sysid || _cmd->target_component != mavlink_system.compid) { + mavlink_msg_command_long_send(_channel, + _cmd->target_system, + _cmd->target_component, + _cmd->command, + _cmd->confirmation, + _cmd->param1, + _cmd->param2, + _cmd->param3, + _cmd->param4, + _cmd->param5, + _cmd->param6, + _cmd->param7); + } + } } diff --git a/src/modules/mavlink/mavlink_commands.h b/src/modules/mavlink/mavlink_commands.h new file mode 100644 index 0000000000..6255d65dff --- /dev/null +++ b/src/modules/mavlink/mavlink_commands.h @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * 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_commands.h + * Mavlink commands stream definition. + * + * @author Anton Babushkin + */ + +#ifndef MAVLINK_COMMANDS_H_ +#define MAVLINK_COMMANDS_H_ + +#include +#include + +class Mavlink; +class MavlinkCommansStream; + +#include "mavlink_main.h" + +class MavlinkCommandsStream +{ +private: + MavlinkOrbSubscription *_cmd_sub; + struct vehicle_command_s *_cmd; + mavlink_channel_t _channel; + +public: + MavlinkCommandsStream(Mavlink *mavlink, mavlink_channel_t channel); + ~MavlinkCommandsStream(); + void update(const hrt_abstime t); +}; + +#endif /* MAVLINK_COMMANDS_H_ */ diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp new file mode 100644 index 0000000000..6c97bfca71 --- /dev/null +++ b/src/modules/mavlink/mavlink_main.cpp @@ -0,0 +1,2338 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * 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_main.cpp + * MAVLink 1.0 protocol implementation. + * + * @author Lorenz Meier + * @author Julian Oes + * @author Anton Babushkin + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include /* isinf / isnan checks */ + +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "mavlink_bridge_header.h" +#include "mavlink_main.h" +#include "mavlink_messages.h" +#include "mavlink_receiver.h" +#include "mavlink_rate_limiter.h" +#include "mavlink_commands.h" + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#define DEFAULT_DEVICE_NAME "/dev/ttyS1" +#define MAX_DATA_RATE 10000 // max data rate in bytes/s +#define MAIN_LOOP_DELAY 10000 // 100 Hz @ 1000 bytes/s data rate + +static Mavlink *_mavlink_instances = nullptr; + +/* TODO: if this is a class member it crashes */ +static struct file_operations fops; + +/** + * mavlink app start / stop handling function + * + * @ingroup apps + */ +extern "C" __EXPORT int mavlink_main(int argc, char *argv[]); + +static uint64_t last_write_times[6] = {0}; + +/* + * Internal function to send the bytes through the right serial port + */ +void +mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length) +{ + Mavlink *instance; + + switch (channel) { + case MAVLINK_COMM_0: + instance = Mavlink::get_instance(0); + break; + + case MAVLINK_COMM_1: + instance = Mavlink::get_instance(1); + break; + + case MAVLINK_COMM_2: + instance = Mavlink::get_instance(2); + break; + + case MAVLINK_COMM_3: + instance = Mavlink::get_instance(3); + break; +#ifdef MAVLINK_COMM_4 + + case MAVLINK_COMM_4: + instance = Mavlink::get_instance(4); + break; +#endif +#ifdef MAVLINK_COMM_5 + + case MAVLINK_COMM_5: + instance = Mavlink::get_instance(5); + break; +#endif +#ifdef MAVLINK_COMM_6 + + case MAVLINK_COMM_6: + instance = Mavlink::get_instance(6); + break; +#endif + } + + /* no valid instance, bail */ + if (!instance) { + return; + } + + int uart = instance->get_uart_fd(); + + ssize_t desired = (sizeof(uint8_t) * length); + + /* + * Check if the OS buffer is full and disable HW + * flow control if it continues to be full + */ + int buf_free = 0; + + if (instance->get_flow_control_enabled() + && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { + + if (buf_free == 0) { + + if (last_write_times[(unsigned)channel] != 0 && + hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) { + + warnx("DISABLING HARDWARE FLOW CONTROL"); + instance->enable_flow_control(false); + } + + } else { + + /* apparently there is space left, although we might be + * partially overflooding the buffer already */ + last_write_times[(unsigned)channel] = hrt_absolute_time(); + } + } + + /* If the wait until transmit flag is on, only transmit after we've received messages. + Otherwise, transmit all the time. */ + if (instance->should_transmit()) { + + /* check if there is space in the buffer, let it overflow else */ + if (!ioctl(uart, FIONWRITE, (unsigned long)&buf_free)) { + + if (desired > buf_free) { + desired = buf_free; + } + } + + ssize_t ret = write(uart, ch, desired); + if (ret != desired) { + warnx("TX FAIL"); + } + } + + + +} + +static void usage(void); + +Mavlink::Mavlink() : + next(nullptr), + _device_name(DEFAULT_DEVICE_NAME), + _task_should_exit(false), + _mavlink_fd(-1), + _task_running(false), + _hil_enabled(false), + _use_hil_gps(false), + _is_usb_uart(false), + _wait_to_transmit(false), + _received_messages(false), + _main_loop_delay(1000), + _subscriptions(nullptr), + _streams(nullptr), + _mission_pub(-1), + _verbose(false), + _forwarding_on(false), + _passing_on(false), + _uart_fd(-1), + _mavlink_param_queue_index(0), + _subscribe_to_stream(nullptr), + _subscribe_to_stream_rate(0.0f), + _flow_control_enabled(true), + _message_buffer({}), + +/* performance counters */ + _loop_perf(perf_alloc(PC_ELAPSED, "mavlink")) +{ + _wpm = &_wpm_s; + mission.count = 0; + fops.ioctl = (int (*)(file *, int, long unsigned int))&mavlink_dev_ioctl; + + _instance_id = Mavlink::instance_count(); + + /* set channel according to instance id */ + switch (_instance_id) { + case 0: + _channel = MAVLINK_COMM_0; + break; + + case 1: + _channel = MAVLINK_COMM_1; + break; + + case 2: + _channel = MAVLINK_COMM_2; + break; + + case 3: + _channel = MAVLINK_COMM_3; + break; +#ifdef MAVLINK_COMM_4 + + case 4: + _channel = MAVLINK_COMM_4; + break; +#endif +#ifdef MAVLINK_COMM_5 + + case 5: + _channel = MAVLINK_COMM_5; + break; +#endif +#ifdef MAVLINK_COMM_6 + + case 6: + _channel = MAVLINK_COMM_6; + break; +#endif + + default: + errx(1, "instance ID is out of range"); + break; + } +} + +Mavlink::~Mavlink() +{ + perf_free(_loop_perf); + + if (_task_running) { + /* task wakes up every 10ms or so at the longest */ + _task_should_exit = true; + + /* wait for a second for the task to quit at our request */ + unsigned i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + //TODO store main task handle in Mavlink instance to allow killing task + //task_delete(_mavlink_task); + break; + } + } while (_task_running); + } + + LL_DELETE(_mavlink_instances, this); +} + +void +Mavlink::set_mode(enum MAVLINK_MODE mode) +{ + _mode = mode; +} + +int +Mavlink::instance_count() +{ + unsigned inst_index = 0; + Mavlink *inst; + + LL_FOREACH(::_mavlink_instances, inst) { + inst_index++; + } + + return inst_index; +} + +Mavlink * +Mavlink::get_instance(unsigned instance) +{ + Mavlink *inst; + unsigned inst_index = 0; + LL_FOREACH(::_mavlink_instances, inst) { + if (instance == inst_index) { + return inst; + } + + inst_index++; + } + + return nullptr; +} + +Mavlink * +Mavlink::get_instance_for_device(const char *device_name) +{ + Mavlink *inst; + + LL_FOREACH(::_mavlink_instances, inst) { + if (strcmp(inst->_device_name, device_name) == 0) { + return inst; + } + } + + return nullptr; +} + +int +Mavlink::destroy_all_instances() +{ + /* start deleting from the end */ + Mavlink *inst_to_del = nullptr; + Mavlink *next_inst = ::_mavlink_instances; + + unsigned iterations = 0; + + warnx("waiting for instances to stop"); + + while (next_inst != nullptr) { + inst_to_del = next_inst; + next_inst = inst_to_del->next; + + /* set flag to stop thread and wait for all threads to finish */ + inst_to_del->_task_should_exit = true; + + while (inst_to_del->_task_running) { + printf("."); + fflush(stdout); + usleep(10000); + iterations++; + + if (iterations > 1000) { + warnx("ERROR: Couldn't stop all mavlink instances."); + return ERROR; + } + } + } + + printf("\n"); + warnx("all instances stopped"); + return OK; +} + +bool +Mavlink::instance_exists(const char *device_name, Mavlink *self) +{ + Mavlink *inst = ::_mavlink_instances; + + while (inst != nullptr) { + + /* don't compare with itself */ + if (inst != self && !strcmp(device_name, inst->_device_name)) { + return true; + } + + inst = inst->next; + } + + return false; +} + +void +Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self) +{ + + Mavlink *inst; + LL_FOREACH(_mavlink_instances, inst) { + if (inst != self) { + inst->pass_message(msg); + } + } +} + +int +Mavlink::get_uart_fd(unsigned index) +{ + Mavlink *inst = get_instance(index); + + if (inst) { + return inst->get_uart_fd(); + } + + return -1; +} + +int +Mavlink::get_uart_fd() +{ + return _uart_fd; +} + +int +Mavlink::get_instance_id() +{ + return _instance_id; +} + +mavlink_channel_t +Mavlink::get_channel() +{ + return _channel; +} + +/**************************************************************************** + * MAVLink text message logger + ****************************************************************************/ + +int +Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) +{ + switch (cmd) { + case (int)MAVLINK_IOC_SEND_TEXT_INFO: + case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL: + case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: { + + const char *txt = (const char *)arg; +// printf("logmsg: %s\n", txt); + struct mavlink_logmessage msg; + strncpy(msg.text, txt, sizeof(msg.text)); + + Mavlink *inst; + LL_FOREACH(_mavlink_instances, inst) { + if (!inst->_task_should_exit) { + mavlink_logbuffer_write(&inst->_logbuffer, &msg); + inst->_total_counter++; + } + } + + return OK; + } + + default: + return ENOTTY; + } +} + +void Mavlink::mavlink_update_system(void) +{ + static bool initialized = false; + static param_t param_system_id; + static param_t param_component_id; + static param_t param_system_type; + static param_t param_use_hil_gps; + + if (!initialized) { + param_system_id = param_find("MAV_SYS_ID"); + param_component_id = param_find("MAV_COMP_ID"); + param_system_type = param_find("MAV_TYPE"); + param_use_hil_gps = param_find("MAV_USEHILGPS"); + initialized = true; + } + + /* update system and component id */ + int32_t system_id; + param_get(param_system_id, &system_id); + + if (system_id > 0 && system_id < 255) { + mavlink_system.sysid = system_id; + } + + int32_t component_id; + param_get(param_component_id, &component_id); + + if (component_id > 0 && component_id < 255) { + mavlink_system.compid = component_id; + } + + int32_t system_type; + param_get(param_system_type, &system_type); + + if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { + mavlink_system.type = system_type; + } + + int32_t use_hil_gps; + param_get(param_use_hil_gps, &use_hil_gps); + + _use_hil_gps = (bool)use_hil_gps; +} + +int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) +{ + /* process baud rate */ + int speed; + + switch (baud) { + case 0: speed = B0; break; + + case 50: speed = B50; break; + + case 75: speed = B75; break; + + case 110: speed = B110; break; + + case 134: speed = B134; break; + + case 150: speed = B150; break; + + case 200: speed = B200; break; + + case 300: speed = B300; break; + + case 600: speed = B600; break; + + case 1200: speed = B1200; break; + + case 1800: speed = B1800; break; + + case 2400: speed = B2400; break; + + case 4800: speed = B4800; break; + + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + + case 460800: speed = B460800; break; + + case 921600: speed = B921600; break; + + default: + warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n", baud); + return -EINVAL; + } + + /* open uart */ + _uart_fd = open(uart_name, O_RDWR | O_NOCTTY); + + if (_uart_fd < 0) { + return _uart_fd; + } + + + /* Try to set baud rate */ + struct termios uart_config; + int termios_state; + *is_usb = false; + + /* Back up the original uart configuration to restore it after exit */ + if ((termios_state = tcgetattr(_uart_fd, uart_config_original)) < 0) { + warnx("ERR GET CONF %s: %d\n", uart_name, termios_state); + close(_uart_fd); + return -1; + } + + /* Fill the struct for the new configuration */ + tcgetattr(_uart_fd, &uart_config); + + /* Clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + + /* USB serial is indicated by /dev/ttyACM0*/ + if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) { + + /* Set baud rate */ + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + warnx("ERR SET BAUD %s: %d\n", uart_name, termios_state); + close(_uart_fd); + return -1; + } + + } + + if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) { + warnx("ERR SET CONF %s\n", uart_name); + close(_uart_fd); + return -1; + } + + if (!_is_usb_uart) { + /* + * Setup hardware flow control. If the port has no RTS pin this call will fail, + * which is not an issue, but requires a separate call so we can fail silently. + */ + (void)tcgetattr(_uart_fd, &uart_config); + uart_config.c_cflag |= CRTS_IFLOW; + (void)tcsetattr(_uart_fd, TCSANOW, &uart_config); + + /* setup output flow control */ + if (enable_flow_control(true)) { + warnx("hardware flow control not supported"); + } + } + + return _uart_fd; +} + +int +Mavlink::enable_flow_control(bool enabled) +{ + // We can't do this on USB - skip + if (_is_usb_uart) { + return OK; + } + + struct termios uart_config; + + int ret = tcgetattr(_uart_fd, &uart_config); + + if (enabled) { + uart_config.c_cflag |= CRTSCTS; + + } else { + uart_config.c_cflag &= ~CRTSCTS; + } + + ret = tcsetattr(_uart_fd, TCSANOW, &uart_config); + + if (!ret) { + _flow_control_enabled = enabled; + } + + return ret; +} + +int +Mavlink::set_hil_enabled(bool hil_enabled) +{ + int ret = OK; + + /* enable HIL */ + if (hil_enabled && !_hil_enabled) { + _hil_enabled = true; + float rate_mult = _datarate / 1000.0f; + configure_stream("HIL_CONTROLS", 15.0f * rate_mult); + } + + /* disable HIL */ + if (!hil_enabled && _hil_enabled) { + _hil_enabled = false; + configure_stream("HIL_CONTROLS", 0.0f); + + } else { + ret = ERROR; + } + + return ret; +} + +extern mavlink_system_t mavlink_system; + +int Mavlink::mavlink_pm_queued_send() +{ + if (_mavlink_param_queue_index < param_count()) { + mavlink_pm_send_param(param_for_index(_mavlink_param_queue_index)); + _mavlink_param_queue_index++; + return 0; + + } else { + return 1; + } +} + +void Mavlink::mavlink_pm_start_queued_send() +{ + _mavlink_param_queue_index = 0; +} + +int Mavlink::mavlink_pm_send_param_for_index(uint16_t index) +{ + return mavlink_pm_send_param(param_for_index(index)); +} + +int Mavlink::mavlink_pm_send_param_for_name(const char *name) +{ + return mavlink_pm_send_param(param_find(name)); +} + +int Mavlink::mavlink_pm_send_param(param_t param) +{ + if (param == PARAM_INVALID) { return 1; } + + /* buffers for param transmission */ + char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; + float val_buf; + mavlink_message_t tx_msg; + + /* query parameter type */ + param_type_t type = param_type(param); + /* copy parameter name */ + strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + + /* + * Map onboard parameter type to MAVLink type, + * endianess matches (both little endian) + */ + uint8_t mavlink_type; + + if (type == PARAM_TYPE_INT32) { + mavlink_type = MAVLINK_TYPE_INT32_T; + + } else if (type == PARAM_TYPE_FLOAT) { + mavlink_type = MAVLINK_TYPE_FLOAT; + + } else { + mavlink_type = MAVLINK_TYPE_FLOAT; + } + + /* + * get param value, since MAVLink encodes float and int params in the same + * space during transmission, copy param onto float val_buf + */ + + int ret; + + if ((ret = param_get(param, &val_buf)) != OK) { + return ret; + } + + mavlink_msg_param_value_pack_chan(mavlink_system.sysid, + mavlink_system.compid, + _channel, + &tx_msg, + name_buf, + val_buf, + mavlink_type, + param_count(), + param_get_index(param)); + mavlink_missionlib_send_message(&tx_msg); + return OK; +} + +void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) +{ + switch (msg->msgid) { + case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { + /* Start sending parameters */ + mavlink_pm_start_queued_send(); + mavlink_missionlib_send_gcs_string("[mavlink pm] sending list"); + } break; + + case MAVLINK_MSG_ID_PARAM_SET: { + + /* Handle parameter setting */ + + if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { + mavlink_param_set_t mavlink_param_set; + mavlink_msg_param_set_decode(msg, &mavlink_param_set); + + if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) { + /* local name buffer to enforce null-terminated string */ + char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; + strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + /* enforce null termination */ + name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; + /* attempt to find parameter, set and send it */ + param_t param = param_find(name); + + if (param == PARAM_INVALID) { + char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; + sprintf(buf, "[mavlink pm] unknown: %s", name); + mavlink_missionlib_send_gcs_string(buf); + + } else { + /* set and send parameter */ + param_set(param, &(mavlink_param_set.param_value)); + mavlink_pm_send_param(param); + } + } + } + } break; + + case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { + mavlink_param_request_read_t mavlink_param_request_read; + mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); + + if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) { + /* when no index is given, loop through string ids and compare them */ + if (mavlink_param_request_read.param_index == -1) { + /* local name buffer to enforce null-terminated string */ + char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; + strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + /* enforce null termination */ + name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; + /* attempt to find parameter and send it */ + mavlink_pm_send_param_for_name(name); + + } else { + /* when index is >= 0, send this parameter again */ + mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index); + } + } + + } break; + } +} + +void Mavlink::publish_mission() +{ + /* Initialize mission publication if necessary */ + if (_mission_pub < 0) { + _mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission); + + } else { + orb_publish(ORB_ID(offboard_mission), _mission_pub, &mission); + } +} + +int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item) +{ + /* only support global waypoints for now */ + switch (mavlink_mission_item->frame) { + case MAV_FRAME_GLOBAL: + mission_item->lat = (double)mavlink_mission_item->x; + mission_item->lon = (double)mavlink_mission_item->y; + mission_item->altitude = mavlink_mission_item->z; + mission_item->altitude_is_relative = false; + break; + + case MAV_FRAME_GLOBAL_RELATIVE_ALT: + mission_item->lat = (double)mavlink_mission_item->x; + mission_item->lon = (double)mavlink_mission_item->y; + mission_item->altitude = mavlink_mission_item->z; + mission_item->altitude_is_relative = true; + break; + + case MAV_FRAME_LOCAL_NED: + case MAV_FRAME_LOCAL_ENU: + return MAV_MISSION_UNSUPPORTED_FRAME; + + case MAV_FRAME_MISSION: + default: + return MAV_MISSION_ERROR; + } + + switch (mavlink_mission_item->command) { + case MAV_CMD_NAV_TAKEOFF: + mission_item->pitch_min = mavlink_mission_item->param2; + break; + + default: + mission_item->acceptance_radius = mavlink_mission_item->param2; + break; + } + + mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F); + mission_item->loiter_radius = fabsf(mavlink_mission_item->param3); + mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ + mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; + + mission_item->time_inside = mavlink_mission_item->param1; + mission_item->autocontinue = mavlink_mission_item->autocontinue; + // mission_item->index = mavlink_mission_item->seq; + mission_item->origin = ORIGIN_MAVLINK; + + return OK; +} + +int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) +{ + if (mission_item->altitude_is_relative) { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL; + + } else { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + } + + switch (mission_item->nav_cmd) { + case NAV_CMD_TAKEOFF: + mavlink_mission_item->param2 = mission_item->pitch_min; + break; + + default: + mavlink_mission_item->param2 = mission_item->acceptance_radius; + break; + } + + mavlink_mission_item->x = (float)mission_item->lat; + mavlink_mission_item->y = (float)mission_item->lon; + mavlink_mission_item->z = mission_item->altitude; + + mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F; + mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction; + mavlink_mission_item->command = mission_item->nav_cmd; + mavlink_mission_item->param1 = mission_item->time_inside; + mavlink_mission_item->autocontinue = mission_item->autocontinue; + // mavlink_mission_item->seq = mission_item->index; + + return OK; +} + +void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state) +{ + state->size = 0; + state->max_size = MAVLINK_WPM_MAX_WP_COUNT; + state->current_state = MAVLINK_WPM_STATE_IDLE; + state->current_partner_sysid = 0; + state->current_partner_compid = 0; + state->timestamp_lastaction = 0; + state->timestamp_last_send_setpoint = 0; + state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; + state->current_dataman_id = 0; +} + +/* + * @brief Sends an waypoint ack message + */ +void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) +{ + mavlink_message_t msg; + mavlink_mission_ack_t wpa; + + wpa.target_system = sysid; + wpa.target_component = compid; + wpa.type = type; + + mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpa); + mavlink_missionlib_send_message(&msg); + + if (_verbose) { warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); } +} + +/* + * @brief Broadcasts the new target waypoint and directs the MAV to fly there + * + * This function broadcasts its new active waypoint sequence number and + * sends a message to the controller, advising it to fly to the coordinates + * of the waypoint with a given orientation + * + * @param seq The waypoint sequence number the MAV should fly to. + */ +void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq) +{ + if (seq < _wpm->size) { + mavlink_message_t msg; + mavlink_mission_current_t wpc; + + wpc.seq = seq; + + mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc); + mavlink_missionlib_send_message(&msg); + + } else if (seq == 0 && _wpm->size == 0) { + + /* don't broadcast if no WPs */ + + } else { + mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds"); + + if (_verbose) { warnx("ERROR: index out of bounds"); } + } +} + +void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count) +{ + mavlink_message_t msg; + mavlink_mission_count_t wpc; + + wpc.target_system = sysid; + wpc.target_component = compid; + wpc.count = mission.count; + + mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc); + mavlink_missionlib_send_message(&msg); + + if (_verbose) { warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); } +} + +void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) +{ + + struct mission_item_s mission_item; + ssize_t len = sizeof(struct mission_item_s); + + dm_item_t dm_current; + + if (_wpm->current_dataman_id == 0) { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + + } else { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + } + + if (dm_read(dm_current, seq, &mission_item, len) == len) { + + /* create mission_item_s from mavlink_mission_item_t */ + mavlink_mission_item_t wp; + map_mission_item_to_mavlink_mission_item(&mission_item, &wp); + + mavlink_message_t msg; + wp.target_system = sysid; + wp.target_component = compid; + wp.seq = seq; + mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp); + mavlink_missionlib_send_message(&msg); + + if (_verbose) { warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); } + + } else { + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); + + if (_verbose) { warnx("ERROR: could not read WP%u", seq); } + } +} + +void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) +{ + if (seq < _wpm->max_size) { + mavlink_message_t msg; + mavlink_mission_request_t wpr; + wpr.target_system = sysid; + wpr.target_component = compid; + wpr.seq = seq; + mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr); + mavlink_missionlib_send_message(&msg); + + if (_verbose) { warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); } + + } else { + mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity"); + + if (_verbose) { warnx("ERROR: Waypoint index exceeds list capacity"); } + } +} + +/* + * @brief emits a message that a waypoint reached + * + * This function broadcasts a message that a waypoint is reached. + * + * @param seq The waypoint sequence number the MAV has reached. + */ +void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq) +{ + mavlink_message_t msg; + mavlink_mission_item_reached_t wp_reached; + + wp_reached.seq = seq; + + mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp_reached); + mavlink_missionlib_send_message(&msg); + + if (_verbose) { warnx("Sent waypoint %u reached message", wp_reached.seq); } +} + +void Mavlink::mavlink_waypoint_eventloop(uint64_t now) +{ + /* check for timed-out operations */ + if (now - _wpm->timestamp_lastaction > _wpm->timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + + mavlink_missionlib_send_gcs_string("Operation timeout"); + + if (_verbose) { warnx("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_state); } + + _wpm->current_state = MAVLINK_WPM_STATE_IDLE; + _wpm->current_partner_sysid = 0; + _wpm->current_partner_compid = 0; + } +} + + +void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) +{ + uint64_t now = hrt_absolute_time(); + + switch (msg->msgid) { + + case MAVLINK_MSG_ID_MISSION_ACK: { + mavlink_mission_ack_t wpa; + mavlink_msg_mission_ack_decode(msg, &wpa); + + if ((msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) { + _wpm->timestamp_lastaction = now; + + if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + if (_wpm->current_wp_id == _wpm->size - 1) { + + _wpm->current_state = MAVLINK_WPM_STATE_IDLE; + _wpm->current_wp_id = 0; + } + } + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); + + if (_verbose) { warnx("REJ. WP CMD: curr partner id mismatch"); } + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { + mavlink_mission_set_current_t wpc; + mavlink_msg_mission_set_current_decode(msg, &wpc); + + if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { + _wpm->timestamp_lastaction = now; + + if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + if (wpc.seq < _wpm->size) { + + mission.current_index = wpc.seq; + publish_mission(); + + /* don't answer yet, wait for the navigator to respond, then publish the mission_result */ +// mavlink_wpm_send_waypoint_current(wpc.seq); + + } else { + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); + + if (_verbose) { warnx("IGN WP CURR CMD: Not in list"); } + } + + } else { + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); + + if (_verbose) { warnx("IGN WP CURR CMD: Busy"); } + + } + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + + if (_verbose) { warnx("REJ. WP CMD: target id mismatch"); } + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { + mavlink_mission_request_list_t wprl; + mavlink_msg_mission_request_list_decode(msg, &wprl); + + if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { + _wpm->timestamp_lastaction = now; + + if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { + if (_wpm->size > 0) { + + _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST; + _wpm->current_wp_id = 0; + _wpm->current_partner_sysid = msg->sysid; + _wpm->current_partner_compid = msg->compid; + + } else { + if (_verbose) { warnx("No waypoints send"); } + } + + _wpm->current_count = _wpm->size; + mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, _wpm->current_count); + + } else { + mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy"); + + if (_verbose) { warnx("IGN REQUEST LIST: Busy"); } + } + + } else { + mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch"); + + if (_verbose) { warnx("REJ. REQUEST LIST: target id mismatch"); } + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_REQUEST: { + mavlink_mission_request_t wpr; + mavlink_msg_mission_request_decode(msg, &wpr); + + if (msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { + _wpm->timestamp_lastaction = now; + + if (wpr.seq >= _wpm->size) { + + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); + + if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq); } + + break; + } + + /* + * Ensure that we are in the correct state and that the first request has id 0 + * and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) + */ + if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { + + if (wpr.seq == 0) { + if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } + + _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); + + if (_verbose) { warnx("REJ. WP CMD: First id != 0"); } + + break; + } + + } else if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + + if (wpr.seq == _wpm->current_wp_id) { + + if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } + + } else if (wpr.seq == _wpm->current_wp_id + 1) { + + if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); + + if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).", wpr.seq, _wpm->current_wp_id, _wpm->current_wp_id + 1); } + + break; + } + + } else { + + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + + if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", _wpm->current_state); } + + break; + } + + _wpm->current_wp_id = wpr.seq; + _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; + + if (wpr.seq < _wpm->size) { + + mavlink_wpm_send_waypoint(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); + + } else { + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); + + if (_verbose) { warnx("ERROR: Waypoint %u out of bounds", wpr.seq); } + } + + + } else { + //we we're target but already communicating with someone else + if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid)) { + + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + + if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, _wpm->current_partner_sysid); } + + } else { + + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + + if (_verbose) { warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } + } + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_COUNT: { + mavlink_mission_count_t wpc; + mavlink_msg_mission_count_decode(msg, &wpc); + + if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { + _wpm->timestamp_lastaction = now; + + if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + + if (wpc.count > NUM_MISSIONS_SUPPORTED) { + if (_verbose) { warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); } + + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_NO_SPACE); + break; + } + + if (wpc.count == 0) { + mavlink_missionlib_send_gcs_string("COUNT 0"); + + if (_verbose) { warnx("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE"); } + + break; + } + + if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); } + + _wpm->current_state = MAVLINK_WPM_STATE_GETLIST; + _wpm->current_wp_id = 0; + _wpm->current_partner_sysid = msg->sysid; + _wpm->current_partner_compid = msg->compid; + _wpm->current_count = wpc.count; + + mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); + + } else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { + + if (_wpm->current_wp_id == 0) { + mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); + + if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid); } + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + + if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", _wpm->current_wp_id); } + } + + } else { + mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy"); + + if (_verbose) { warnx("IGN MISSION_COUNT CMD: Busy"); } + } + + } else { + + mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch"); + + if (_verbose) { warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } + } + } + break; + + case MAVLINK_MSG_ID_MISSION_ITEM: { + mavlink_mission_item_t wp; + mavlink_msg_mission_item_decode(msg, &wp); + + if (wp.target_system == mavlink_system.sysid && wp.target_component == _mavlink_wpm_comp_id) { + + _wpm->timestamp_lastaction = now; + + /* + * ensure that we are in the correct state and that the first waypoint has id 0 + * and the following waypoints have the correct ids + */ + + if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { + + if (wp.seq != 0) { + mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0"); + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.", wp.seq); + break; + } + + } else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + + if (wp.seq >= _wpm->current_count) { + mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds"); + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.", wp.seq); + break; + } + + if (wp.seq != _wpm->current_wp_id) { + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.", wp.seq, _wpm->current_wp_id); + mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); + break; + } + } + + _wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; + + struct mission_item_s mission_item; + + int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item); + + if (ret != OK) { + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, ret); + _wpm->current_state = MAVLINK_WPM_STATE_IDLE; + break; + } + + ssize_t len = sizeof(struct mission_item_s); + + dm_item_t dm_next; + + if (_wpm->current_dataman_id == 0) { + dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; + mission.dataman_id = 1; + + } else { + dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; + mission.dataman_id = 0; + } + + if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); + _wpm->current_state = MAVLINK_WPM_STATE_IDLE; + break; + } + +// if (wp.current) { +// warnx("current is: %d", wp.seq); +// mission.current_index = wp.seq; +// } + // XXX ignore current set + mission.current_index = -1; + + _wpm->current_wp_id = wp.seq + 1; + + if (_wpm->current_wp_id == _wpm->current_count && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + + if (_verbose) { warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_count); } + + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + + mission.count = _wpm->current_count; + + publish_mission(); + + _wpm->current_dataman_id = mission.dataman_id; + _wpm->size = _wpm->current_count; + + _wpm->current_state = MAVLINK_WPM_STATE_IDLE; + + } else { + mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); + } + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + + if (_verbose) { warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { + mavlink_mission_clear_all_t wpca; + mavlink_msg_mission_clear_all_decode(msg, &wpca); + + if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { + + if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + _wpm->timestamp_lastaction = now; + + _wpm->size = 0; + + /* prepare mission topic */ + mission.dataman_id = -1; + mission.count = 0; + mission.current_index = -1; + publish_mission(); + + if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + + } else { + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); + } + + + } else { + mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy"); + + if (_verbose) { warnx("IGN WP CLEAR CMD: Busy"); } + } + + + } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + + mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch"); + + if (_verbose) { warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } + } + + break; + } + + default: { + /* other messages might should get caught by mavlink and others */ + break; + } + } +} + +void +Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg) +{ + uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; + + uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); + + mavlink_send_uart_bytes(_channel, missionlib_msg_buf, len); +} + + + +int +Mavlink::mavlink_missionlib_send_gcs_string(const char *string) +{ + const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; + mavlink_statustext_t statustext; + statustext.severity = MAV_SEVERITY_INFO; + + 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_msg_statustext_send(_channel, statustext.severity, statustext.text); + return OK; + + } else { + return 1; + } +} + +MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic) +{ + /* check if already subscribed to this topic */ + MavlinkOrbSubscription *sub; + + LL_FOREACH(_subscriptions, sub) { + if (sub->get_topic() == topic) { + /* already subscribed */ + return sub; + } + } + + /* add new subscription */ + MavlinkOrbSubscription *sub_new = new MavlinkOrbSubscription(topic); + + LL_APPEND(_subscriptions, sub_new); + + return sub_new; +} + +int +Mavlink::configure_stream(const char *stream_name, const float rate) +{ + /* calculate interval in us, 0 means disabled stream */ + unsigned int interval = (rate > 0.0f) ? (1000000.0f / rate) : 0; + + /* search if stream exists */ + MavlinkStream *stream; + LL_FOREACH(_streams, stream) { + if (strcmp(stream_name, stream->get_name()) == 0) { + if (interval > 0) { + /* set new interval */ + stream->set_interval(interval); + + } else { + /* delete stream */ + LL_DELETE(_streams, stream); + delete stream; + } + + return OK; + } + } + + if (interval > 0) { + /* search for stream with specified name in supported streams list */ + for (unsigned int i = 0; streams_list[i] != nullptr; i++) { + if (strcmp(stream_name, streams_list[i]->get_name()) == 0) { + /* create new instance */ + stream = streams_list[i]->new_instance(); + stream->set_channel(get_channel()); + stream->set_interval(interval); + stream->subscribe(this); + LL_APPEND(_streams, stream); + return OK; + } + } + + } else { + /* stream not found, nothing to disable */ + return OK; + } + + return ERROR; +} + +void +Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate) +{ + /* orb subscription must be done from the main thread, + * set _subscribe_to_stream and _subscribe_to_stream_rate fields + * which polled in mavlink main loop */ + if (!_task_should_exit) { + /* wait for previous subscription completion */ + while (_subscribe_to_stream != nullptr) { + usleep(MAIN_LOOP_DELAY / 2); + } + + /* copy stream name */ + unsigned n = strlen(stream_name) + 1; + char *s = new char[n]; + strcpy(s, stream_name); + + /* set subscription task */ + _subscribe_to_stream_rate = rate; + _subscribe_to_stream = s; + + /* wait for subscription */ + do { + usleep(MAIN_LOOP_DELAY / 2); + } while (_subscribe_to_stream != nullptr); + } +} + +int +Mavlink::message_buffer_init(int size) +{ + _message_buffer.size = size; + _message_buffer.write_ptr = 0; + _message_buffer.read_ptr = 0; + _message_buffer.data = (char*)malloc(_message_buffer.size); + return (_message_buffer.data == 0) ? ERROR : OK; +} + +void +Mavlink::message_buffer_destroy() +{ + _message_buffer.size = 0; + _message_buffer.write_ptr = 0; + _message_buffer.read_ptr = 0; + free(_message_buffer.data); +} + +int +Mavlink::message_buffer_count() +{ + int n = _message_buffer.write_ptr - _message_buffer.read_ptr; + + if (n < 0) { + n += _message_buffer.size; + } + + return n; +} + +int +Mavlink::message_buffer_is_empty() +{ + return _message_buffer.read_ptr == _message_buffer.write_ptr; +} + + +bool +Mavlink::message_buffer_write(void *ptr, int size) +{ + // bytes available to write + int available = _message_buffer.read_ptr - _message_buffer.write_ptr - 1; + + if (available < 0) { + available += _message_buffer.size; + } + + if (size > available) { + // buffer overflow + return false; + } + + char *c = (char *) ptr; + int n = _message_buffer.size - _message_buffer.write_ptr; // bytes to end of the buffer + + if (n < size) { + // message goes over end of the buffer + memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), c, n); + _message_buffer.write_ptr = 0; + + } else { + n = 0; + } + + // now: n = bytes already written + int p = size - n; // number of bytes to write + memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), &(c[n]), p); + _message_buffer.write_ptr = (_message_buffer.write_ptr + p) % _message_buffer.size; + return true; +} + +int +Mavlink::message_buffer_get_ptr(void **ptr, bool *is_part) +{ + // bytes available to read + int available = _message_buffer.write_ptr - _message_buffer.read_ptr; + + if (available == 0) { + return 0; // buffer is empty + } + + int n = 0; + + if (available > 0) { + // read pointer is before write pointer, all available bytes can be read + n = available; + *is_part = false; + + } else { + // read pointer is after write pointer, read bytes from read_ptr to end of the buffer + n = _message_buffer.size - _message_buffer.read_ptr; + *is_part = _message_buffer.write_ptr > 0; + } + + *ptr = &(_message_buffer.data[_message_buffer.read_ptr]); + return n; +} + +void +Mavlink::message_buffer_mark_read(int n) +{ + _message_buffer.read_ptr = (_message_buffer.read_ptr + n) % _message_buffer.size; +} + +void +Mavlink::pass_message(mavlink_message_t *msg) +{ + if (_passing_on) { + /* size is 8 bytes plus variable payload */ + int size = MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len; + pthread_mutex_lock(&_message_buffer_mutex); + message_buffer_write(msg, size); + pthread_mutex_unlock(&_message_buffer_mutex); + } +} + + + +int +Mavlink::task_main(int argc, char *argv[]) +{ + int ch; + _baudrate = 57600; + _datarate = 0; + _mode = MAVLINK_MODE_NORMAL; + + /* work around some stupidity in task_create's argv handling */ + argc -= 2; + argv += 2; + + /* don't exit from getopt loop to leave getopt global variables in consistent state, + * set error flag instead */ + bool err_flag = false; + + while ((ch = getopt(argc, argv, "b:r:d:m:fpvw")) != EOF) { + switch (ch) { + case 'b': + _baudrate = strtoul(optarg, NULL, 10); + + if (_baudrate < 9600 || _baudrate > 921600) { + warnx("invalid baud rate '%s'", optarg); + err_flag = true; + } + + break; + + case 'r': + _datarate = strtoul(optarg, NULL, 10); + + if (_datarate < 10 || _datarate > MAX_DATA_RATE) { + warnx("invalid data rate '%s'", optarg); + err_flag = true; + } + + break; + + case 'd': + _device_name = optarg; + break; + +// case 'e': +// mavlink_link_termination_allowed = true; +// break; + + case 'm': + if (strcmp(optarg, "custom") == 0) { + _mode = MAVLINK_MODE_CUSTOM; + + } else if (strcmp(optarg, "camera") == 0) { + _mode = MAVLINK_MODE_CAMERA; + } + + break; + + case 'f': + _forwarding_on = true; + break; + + case 'p': + _passing_on = true; + break; + + case 'v': + _verbose = true; + break; + + case 'w': + _wait_to_transmit = true; + break; + + default: + err_flag = true; + break; + } + } + + if (err_flag) { + usage(); + return ERROR; + } + + if (_datarate == 0) { + /* convert bits to bytes and use 1/2 of bandwidth by default */ + _datarate = _baudrate / 20; + } + + if (_datarate > MAX_DATA_RATE) { + _datarate = MAX_DATA_RATE; + } + + if (Mavlink::instance_exists(_device_name, this)) { + warnx("mavlink instance for %s already running", _device_name); + return ERROR; + } + + /* inform about mode */ + switch (_mode) { + case MAVLINK_MODE_NORMAL: + warnx("mode: NORMAL"); + break; + + case MAVLINK_MODE_CUSTOM: + warnx("mode: CUSTOM"); + break; + + case MAVLINK_MODE_CAMERA: + warnx("mode: CAMERA"); + break; + + default: + warnx("ERROR: Unknown mode"); + break; + } + + _mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; + + warnx("data rate: %d Bytes/s, port: %s, baud: %d", _datarate, _device_name, _baudrate); + + /* flush stdout in case MAVLink is about to take it over */ + fflush(stdout); + + struct termios uart_config_original; + + /* default values for arguments */ + _uart_fd = mavlink_open_uart(_baudrate, _device_name, &uart_config_original, &_is_usb_uart); + + if (_uart_fd < 0) { + warn("could not open %s", _device_name); + return ERROR; + } + + /* initialize mavlink text message buffering */ + mavlink_logbuffer_init(&_logbuffer, 5); + + /* if we are passing on mavlink messages, we need to prepare a buffer for this instance */ + if (_passing_on) { + /* initialize message buffer if multiplexing is on */ + if (OK != message_buffer_init(500)) { + errx(1, "can't allocate message buffer, exiting"); + } + + /* initialize message buffer mutex */ + pthread_mutex_init(&_message_buffer_mutex, NULL); + } + + /* create the device node that's used for sending text log messages, etc. */ + register_driver(MAVLINK_LOG_DEVICE, &fops, 0666, NULL); + + /* initialize logging device */ + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + /* Initialize system properties */ + mavlink_update_system(); + + /* start the MAVLink receiver */ + _receive_thread = MavlinkReceiver::receive_start(this); + + /* initialize waypoint manager */ + mavlink_wpm_init(_wpm); + + int mission_result_sub = orb_subscribe(ORB_ID(mission_result)); + struct mission_result_s mission_result; + memset(&mission_result, 0, sizeof(mission_result)); + + _task_running = true; + + MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update)); + MavlinkOrbSubscription *status_sub = add_orb_subscription(ORB_ID(vehicle_status)); + + struct vehicle_status_s *status = (struct vehicle_status_s *) status_sub->get_data(); + + MavlinkCommandsStream commands_stream(this, _channel); + + /* add default streams depending on mode and intervals depending on datarate */ + float rate_mult = _datarate / 1000.0f; + + configure_stream("HEARTBEAT", 1.0f); + + switch (_mode) { + case MAVLINK_MODE_NORMAL: + configure_stream("SYS_STATUS", 1.0f); + configure_stream("GPS_GLOBAL_ORIGIN", 0.5f); + configure_stream("HIGHRES_IMU", 1.0f * rate_mult); + configure_stream("ATTITUDE", 10.0f * rate_mult); + configure_stream("VFR_HUD", 10.0f * rate_mult); + configure_stream("GPS_RAW_INT", 1.0f * rate_mult); + configure_stream("GLOBAL_POSITION_INT", 3.0f * rate_mult); + configure_stream("LOCAL_POSITION_NED", 3.0f * rate_mult); + configure_stream("RC_CHANNELS_RAW", 1.0f * rate_mult); + configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult); + configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f * rate_mult); + configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f * rate_mult); + configure_stream("DISTANCE_SENSOR", 0.5f); + break; + + case MAVLINK_MODE_CAMERA: + configure_stream("SYS_STATUS", 1.0f); + configure_stream("ATTITUDE", 15.0f * rate_mult); + configure_stream("GLOBAL_POSITION_INT", 15.0f * rate_mult); + configure_stream("CAMERA_CAPTURE", 1.0f); + break; + + default: + break; + } + + /* don't send parameters on startup without request */ + _mavlink_param_queue_index = param_count(); + + MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult); + MavlinkRateLimiter fast_rate_limiter(30000.0f / rate_mult); + + /* set main loop delay depending on data rate to minimize CPU overhead */ + _main_loop_delay = MAIN_LOOP_DELAY / rate_mult; + + /* now the instance is fully initialized and we can bump the instance count */ + LL_APPEND(_mavlink_instances, this); + + while (!_task_should_exit) { + /* main loop */ + usleep(_main_loop_delay); + + perf_begin(_loop_perf); + + hrt_abstime t = hrt_absolute_time(); + + if (param_sub->update(t)) { + /* parameters updated */ + mavlink_update_system(); + } + + if (status_sub->update(t)) { + /* switch HIL mode if required */ + set_hil_enabled(status->hil_state == HIL_STATE_ON); + } + + /* update commands stream */ + commands_stream.update(t); + + /* check for requested subscriptions */ + if (_subscribe_to_stream != nullptr) { + if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) { + if (_subscribe_to_stream_rate > 0.0f) { + warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name, _subscribe_to_stream_rate); + + } else { + warnx("stream %s on device %s disabled", _subscribe_to_stream, _device_name); + } + + } else { + warnx("stream %s not found", _subscribe_to_stream, _device_name); + } + + delete _subscribe_to_stream; + _subscribe_to_stream = nullptr; + } + + /* update streams */ + MavlinkStream *stream; + LL_FOREACH(_streams, stream) { + stream->update(t); + } + + bool updated; + orb_check(mission_result_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result); + + if (_verbose) { warnx("Got mission result: new current: %d", mission_result.index_current_mission); } + + if (mission_result.mission_reached) { + mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index_reached); + } + + mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission); + + } else { + if (slow_rate_limiter.check(t)) { + mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission); + } + } + + if (fast_rate_limiter.check(t)) { + mavlink_pm_queued_send(); + mavlink_waypoint_eventloop(hrt_absolute_time()); + + if (!mavlink_logbuffer_is_empty(&_logbuffer)) { + struct mavlink_logmessage msg; + int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg); + + if (lb_ret == OK) { + mavlink_missionlib_send_gcs_string(msg.text); + } + } + } + + /* pass messages from other UARTs */ + if (_passing_on) { + + bool is_part; + void *read_ptr; + + /* guard get ptr by mutex */ + pthread_mutex_lock(&_message_buffer_mutex); + int available = message_buffer_get_ptr(&read_ptr, &is_part); + pthread_mutex_unlock(&_message_buffer_mutex); + + if (available > 0) { + /* write first part of buffer */ + _mavlink_resend_uart(_channel, (const mavlink_message_t*)read_ptr); + message_buffer_mark_read(available); + + /* write second part of buffer if there is some */ + if (is_part) { + /* guard get ptr by mutex */ + pthread_mutex_lock(&_message_buffer_mutex); + available = message_buffer_get_ptr(&read_ptr, &is_part); + pthread_mutex_unlock(&_message_buffer_mutex); + + _mavlink_resend_uart(_channel, (const mavlink_message_t*)read_ptr); + message_buffer_mark_read(available); + } + } + } + + + + perf_end(_loop_perf); + } + + delete _subscribe_to_stream; + _subscribe_to_stream = nullptr; + + /* delete streams */ + MavlinkStream *stream_to_del = nullptr; + MavlinkStream *stream_next = _streams; + + while (stream_next != nullptr) { + stream_to_del = stream_next; + stream_next = stream_to_del->next; + delete stream_to_del; + } + + _streams = nullptr; + + /* delete subscriptions */ + MavlinkOrbSubscription *sub_to_del = nullptr; + MavlinkOrbSubscription *sub_next = _subscriptions; + + while (sub_next != nullptr) { + sub_to_del = sub_next; + sub_next = sub_to_del->next; + delete sub_to_del; + } + + _subscriptions = nullptr; + + warnx("waiting for UART receive thread"); + + /* wait for threads to complete */ + pthread_join(_receive_thread, NULL); + + /* reset the UART flags to original state */ + tcsetattr(_uart_fd, TCSANOW, &uart_config_original); + + /* close UART */ + close(_uart_fd); + + /* close mavlink logging device */ + close(_mavlink_fd); + + if (_passing_on) { + message_buffer_destroy(); + pthread_mutex_destroy(&_message_buffer_mutex); + } + /* destroy log buffer */ + mavlink_logbuffer_destroy(&_logbuffer); + + warnx("exiting"); + _task_running = false; + + return OK; +} + +int Mavlink::start_helper(int argc, char *argv[]) +{ + /* create the instance in task context */ + Mavlink *instance = new Mavlink(); + + /* this will actually only return once MAVLink exits */ + int res = instance->task_main(argc, argv); + + /* delete instance on main thread end */ + delete instance; + + return res; +} + +int +Mavlink::start(int argc, char *argv[]) +{ + // Wait for the instance count to go up one + // before returning to the shell + int ic = Mavlink::instance_count(); + + // Instantiate thread + char buf[24]; + sprintf(buf, "mavlink_if%d", ic); + + // This is where the control flow splits + // between the starting task and the spawned + // task - start_helper() only returns + // when the started task exits. + task_spawn_cmd(buf, + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 1950, + (main_t)&Mavlink::start_helper, + (const char **)argv); + + // Ensure that this shell command + // does not return before the instance + // is fully initialized. As this is also + // the only path to create a new instance, + // this is effectively a lock on concurrent + // instance starting. XXX do a real lock. + + // Sleep 500 us between each attempt + const unsigned sleeptime = 500; + + // Wait 100 ms max for the startup. + const unsigned limit = 100 * 1000 / sleeptime; + + unsigned count = 0; + + while (ic == Mavlink::instance_count() && count < limit) { + ::usleep(sleeptime); + count++; + } + + return OK; +} + +void +Mavlink::status() +{ + warnx("running"); +} + +int +Mavlink::stream(int argc, char *argv[]) +{ + const char *device_name = DEFAULT_DEVICE_NAME; + float rate = -1.0f; + const char *stream_name = nullptr; + int ch; + + argc -= 2; + argv += 2; + + /* don't exit from getopt loop to leave getopt global variables in consistent state, + * set error flag instead */ + bool err_flag = false; + + int i = 0; + + while (i < argc) { + + if (0 == strcmp(argv[i], "-r") && i < argc - 1) { + rate = strtod(argv[i + 1], nullptr); + + if (rate < 0.0f) { + err_flag = true; + } + + i++; + + } else if (0 == strcmp(argv[i], "-d") && i < argc - 1) { + device_name = argv[i + 1]; + i++; + + } else if (0 == strcmp(argv[i], "-s") && i < argc - 1) { + stream_name = argv[i + 1]; + i++; + + } else { + err_flag = true; + } + + i++; + } + + if (!err_flag && rate >= 0.0 && stream_name != nullptr) { + Mavlink *inst = get_instance_for_device(device_name); + + if (inst != nullptr) { + inst->configure_stream_threadsafe(stream_name, rate); + + } else { + + // If the link is not running we should complain, but not fall over + // because this is so easy to get wrong and not fatal. Warning is sufficient. + errx(0, "mavlink for device %s is not running", device_name); + } + + } else { + errx(1, "usage: mavlink stream [-d device] -s stream -r rate"); + } + + return OK; +} + +static void usage() +{ + warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v] [-w]"); +} + +int mavlink_main(int argc, char *argv[]) +{ + if (argc < 2) { + usage(); + exit(1); + } + + if (!strcmp(argv[1], "start")) { + return Mavlink::start(argc, argv); + + } else if (!strcmp(argv[1], "stop")) { + warnx("mavlink stop is deprecated, use stop-all instead"); + usage(); + exit(1); + + } else if (!strcmp(argv[1], "stop-all")) { + return Mavlink::destroy_all_instances(); + + // } else if (!strcmp(argv[1], "status")) { + // mavlink::g_mavlink->status(); + + } else if (!strcmp(argv[1], "stream")) { + return Mavlink::stream(argc, argv); + + } else { + usage(); + exit(1); + } + + return 0; +} diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h new file mode 100644 index 0000000000..c7a7d32f84 --- /dev/null +++ b/src/modules/mavlink/mavlink_main.h @@ -0,0 +1,373 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * 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_main.h + * MAVLink 1.0 protocol interface definition. + * + * @author Lorenz Meier + * @author Anton Babushkin + */ + +#pragma once + +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "mavlink_bridge_header.h" +#include "mavlink_orb_subscription.h" +#include "mavlink_stream.h" +#include "mavlink_messages.h" + +// FIXME XXX - TO BE MOVED TO XML +enum MAVLINK_WPM_STATES { + MAVLINK_WPM_STATE_IDLE = 0, + MAVLINK_WPM_STATE_SENDLIST, + MAVLINK_WPM_STATE_SENDLIST_SENDWPS, + MAVLINK_WPM_STATE_GETLIST, + MAVLINK_WPM_STATE_GETLIST_GETWPS, + MAVLINK_WPM_STATE_GETLIST_GOTALL, + MAVLINK_WPM_STATE_ENUM_END +}; + +enum MAVLINK_WPM_CODES { + MAVLINK_WPM_CODE_OK = 0, + MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, + MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, + MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS, + MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, + MAVLINK_WPM_CODE_ENUM_END +}; + + +#define MAVLINK_WPM_MAX_WP_COUNT 255 +#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds +#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint +#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000 + + +struct mavlink_wpm_storage { + uint16_t size; + uint16_t max_size; + enum MAVLINK_WPM_STATES current_state; + int16_t current_wp_id; ///< Waypoint in current transmission + uint16_t current_count; + uint8_t current_partner_sysid; + uint8_t current_partner_compid; + uint64_t timestamp_lastaction; + uint64_t timestamp_last_send_setpoint; + uint32_t timeout; + int current_dataman_id; +}; + + +class Mavlink +{ + +public: + /** + * Constructor + */ + Mavlink(); + + /** + * Destructor, also kills the mavlinks task. + */ + ~Mavlink(); + + /** + * Start the mavlink task. + * + * @return OK on success. + */ + static int start(int argc, char *argv[]); + + /** + * Display the mavlink status. + */ + void status(); + + static int stream(int argc, char *argv[]); + + static int instance_count(); + + static Mavlink *new_instance(); + + static Mavlink *get_instance(unsigned instance); + + static Mavlink *get_instance_for_device(const char *device_name); + + static int destroy_all_instances(); + + static bool instance_exists(const char *device_name, Mavlink *self); + + static void forward_message(mavlink_message_t *msg, Mavlink *self); + + static int get_uart_fd(unsigned index); + + int get_uart_fd(); + + const char *_device_name; + + enum MAVLINK_MODE { + MAVLINK_MODE_NORMAL = 0, + MAVLINK_MODE_CUSTOM, + MAVLINK_MODE_CAMERA + }; + + void set_mode(enum MAVLINK_MODE); + enum MAVLINK_MODE get_mode() { return _mode; } + + bool get_hil_enabled() { return _hil_enabled; } + + bool get_use_hil_gps() { return _use_hil_gps; } + + bool get_flow_control_enabled() { return _flow_control_enabled; } + + bool get_forwarding_on() { return _forwarding_on; } + + /** + * Handle waypoint related messages. + */ + void mavlink_wpm_message_handler(const mavlink_message_t *msg); + + static int start_helper(int argc, char *argv[]); + + /** + * Handle parameter related messages. + */ + void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg); + + void get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode); + + /** + * 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. + */ + int set_hil_enabled(bool hil_enabled); + + MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic); + + int get_instance_id(); + + /** + * Enable / disable hardware flow control. + * + * @param enabled True if hardware flow control should be enabled + */ + int enable_flow_control(bool enabled); + + mavlink_channel_t get_channel(); + + bool _task_should_exit; /**< if true, mavlink task should exit */ + + int get_mavlink_fd() { return _mavlink_fd; } + + + /* Functions for waiting to start transmission until message received. */ + void set_has_received_messages(bool received_messages) { _received_messages = received_messages; } + bool get_has_received_messages() { return _received_messages; } + void set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; } + bool get_wait_to_transmit() { return _wait_to_transmit; } + bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); } + +protected: + Mavlink *next; + +private: + int _instance_id; + + int _mavlink_fd; + bool _task_running; + + perf_counter_t _loop_perf; /**< loop performance counter */ + + /* states */ + bool _hil_enabled; /**< Hardware In the Loop mode */ + bool _use_hil_gps; /**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */ + bool _is_usb_uart; /**< Port is USB */ + bool _wait_to_transmit; /**< Wait to transmit until received messages. */ + bool _received_messages; /**< Whether we've received valid mavlink messages. */ + + unsigned _main_loop_delay; /**< mainloop delay, depends on data rate */ + + MavlinkOrbSubscription *_subscriptions; + MavlinkStream *_streams; + + orb_advert_t _mission_pub; + struct mission_s mission; + MAVLINK_MODE _mode; + + uint8_t _mavlink_wpm_comp_id; + mavlink_channel_t _channel; + + struct mavlink_logbuffer _logbuffer; + unsigned int _total_counter; + + pthread_t _receive_thread; + + /* Allocate storage space for waypoints */ + mavlink_wpm_storage _wpm_s; + mavlink_wpm_storage *_wpm; + + bool _verbose; + bool _forwarding_on; + bool _passing_on; + int _uart_fd; + int _baudrate; + int _datarate; + + /** + * If the queue index is not at 0, the queue sending + * logic will send parameters from the current index + * to len - 1, the end of the param list. + */ + unsigned int _mavlink_param_queue_index; + + bool mavlink_link_termination_allowed; + + char *_subscribe_to_stream; + float _subscribe_to_stream_rate; + + bool _flow_control_enabled; + + struct mavlink_message_buffer { + int write_ptr; + int read_ptr; + int size; + char *data; + }; + mavlink_message_buffer _message_buffer; + + pthread_mutex_t _message_buffer_mutex; + + + + /** + * Send one parameter. + * + * @param param The parameter id to send. + * @return zero on success, nonzero on failure. + */ + int mavlink_pm_send_param(param_t param); + + /** + * Send one parameter identified by index. + * + * @param index The index of the parameter to send. + * @return zero on success, nonzero else. + */ + int mavlink_pm_send_param_for_index(uint16_t index); + + /** + * Send one parameter identified by name. + * + * @param name The index of the parameter to send. + * @return zero on success, nonzero else. + */ + int mavlink_pm_send_param_for_name(const char *name); + + /** + * Send a queue of parameters, one parameter per function call. + * + * @return zero on success, nonzero on failure + */ + int mavlink_pm_queued_send(void); + + /** + * Start sending the parameter queue. + * + * This function will not directly send parameters, but instead + * activate the sending of one parameter on each call of + * mavlink_pm_queued_send(). + * @see mavlink_pm_queued_send() + */ + void mavlink_pm_start_queued_send(); + + void mavlink_update_system(); + + void mavlink_waypoint_eventloop(uint64_t now); + void mavlink_wpm_send_waypoint_reached(uint16_t seq); + void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq); + void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq); + void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count); + void mavlink_wpm_send_waypoint_current(uint16_t seq); + void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type); + void mavlink_wpm_init(mavlink_wpm_storage *state); + int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item); + int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item); + void publish_mission(); + + void mavlink_missionlib_send_message(mavlink_message_t *msg); + int mavlink_missionlib_send_gcs_string(const char *string); + + int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); + + int configure_stream(const char *stream_name, const float rate); + void configure_stream_threadsafe(const char *stream_name, const float rate); + + int message_buffer_init(int size); + + void message_buffer_destroy(); + + int message_buffer_count(); + + int message_buffer_is_empty(); + + bool message_buffer_write(void *ptr, int size); + + int message_buffer_get_ptr(void **ptr, bool *is_part); + + void message_buffer_mark_read(int n); + + void pass_message(mavlink_message_t *msg); + + static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); + + /** + * Main mavlink task. + */ + int task_main(int argc, char *argv[]); + +}; diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp new file mode 100644 index 0000000000..2837c16b80 --- /dev/null +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -0,0 +1,1396 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * 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_messages.cpp + * MAVLink 1.0 message formatters implementation. + * + * @author Lorenz Meier + * @author Anton Babushkin + */ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "mavlink_messages.h" + + +static uint16_t cm_uint16_from_m_float(float m); +static void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, + uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode); + +uint16_t +cm_uint16_from_m_float(float m) +{ + if (m < 0.0f) { + return 0; + + } else if (m > 655.35f) { + return 65535; + } + + return (uint16_t)(m * 100.0f); +} + +void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, + uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode) +{ + *mavlink_state = 0; + *mavlink_base_mode = 0; + *mavlink_custom_mode = 0; + + /* HIL */ + if (status->hil_state == HIL_STATE_ON) { + *mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED; + } + + /* arming state */ + if (status->arming_state == ARMING_STATE_ARMED + || status->arming_state == ARMING_STATE_ARMED_ERROR) { + *mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + } + + /* main state */ + *mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; + + union px4_custom_mode custom_mode; + custom_mode.data = 0; + + if (pos_sp_triplet->nav_state == NAV_STATE_NONE) { + /* use main state when navigator is not active */ + if (status->main_state == MAIN_STATE_MANUAL) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; + + } else if (status->main_state == MAIN_STATE_ALTCTL) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL; + + } else if (status->main_state == MAIN_STATE_POSCTL) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; + + } else if (status->main_state == MAIN_STATE_AUTO) { + *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; + + } else if (status->main_state == MAIN_STATE_ACRO) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; + } + + } else { + /* use navigation state when navigator is active */ + *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + + if (pos_sp_triplet->nav_state == NAV_STATE_READY) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; + + } else if (pos_sp_triplet->nav_state == NAV_STATE_LOITER) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; + + } else if (pos_sp_triplet->nav_state == NAV_STATE_MISSION) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; + + } else if (pos_sp_triplet->nav_state == NAV_STATE_RTL) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; + + } else if (pos_sp_triplet->nav_state == NAV_STATE_LAND) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; + } + } + + *mavlink_custom_mode = custom_mode.data; + + /* set system state */ + if (status->arming_state == ARMING_STATE_INIT + || status->arming_state == ARMING_STATE_IN_AIR_RESTORE + || status->arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review + *mavlink_state = MAV_STATE_UNINIT; + + } else if (status->arming_state == ARMING_STATE_ARMED) { + *mavlink_state = MAV_STATE_ACTIVE; + + } else if (status->arming_state == ARMING_STATE_ARMED_ERROR) { + *mavlink_state = MAV_STATE_CRITICAL; + + } else if (status->arming_state == ARMING_STATE_STANDBY) { + *mavlink_state = MAV_STATE_STANDBY; + + } else if (status->arming_state == ARMING_STATE_REBOOT) { + *mavlink_state = MAV_STATE_POWEROFF; + + } else { + *mavlink_state = MAV_STATE_CRITICAL; + } +} + + +class MavlinkStreamHeartbeat : public MavlinkStream +{ +public: + const char *get_name() + { + return "HEARTBEAT"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamHeartbeat(); + } + +private: + MavlinkOrbSubscription *status_sub; + struct vehicle_status_s *status; + + MavlinkOrbSubscription *pos_sp_triplet_sub; + struct position_setpoint_triplet_s *pos_sp_triplet; + +protected: + void subscribe(Mavlink *mavlink) + { + status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status)); + status = (struct vehicle_status_s *)status_sub->get_data(); + + pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet)); + pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data(); + } + + void send(const hrt_abstime t) + { + (void)status_sub->update(t); + (void)pos_sp_triplet_sub->update(t); + + uint8_t mavlink_state = 0; + uint8_t mavlink_base_mode = 0; + uint32_t mavlink_custom_mode = 0; + get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); + + mavlink_msg_heartbeat_send(_channel, + mavlink_system.type, + MAV_AUTOPILOT_PX4, + mavlink_base_mode, + mavlink_custom_mode, + mavlink_state); + + } +}; + + +class MavlinkStreamSysStatus : public MavlinkStream +{ +public: + const char *get_name() + { + return "SYS_STATUS"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamSysStatus(); + } + +private: + MavlinkOrbSubscription *status_sub; + struct vehicle_status_s *status; + +protected: + void subscribe(Mavlink *mavlink) + { + status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status)); + status = (struct vehicle_status_s *)status_sub->get_data(); + } + + void send(const hrt_abstime t) + { + status_sub->update(t); + mavlink_msg_sys_status_send(_channel, + status->onboard_control_sensors_present, + status->onboard_control_sensors_enabled, + status->onboard_control_sensors_health, + status->load * 1000.0f, + status->battery_voltage * 1000.0f, + status->battery_current * 1000.0f, + status->battery_remaining * 100.0f, + status->drop_rate_comm, + status->errors_comm, + status->errors_count1, + status->errors_count2, + status->errors_count3, + status->errors_count4); + } +}; + + +class MavlinkStreamHighresIMU : public MavlinkStream +{ +public: + MavlinkStreamHighresIMU() : MavlinkStream(), accel_timestamp(0), gyro_timestamp(0), mag_timestamp(0), baro_timestamp(0) + { + } + + const char *get_name() + { + return "HIGHRES_IMU"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamHighresIMU(); + } + +private: + MavlinkOrbSubscription *sensor_sub; + struct sensor_combined_s *sensor; + + uint64_t accel_timestamp; + uint64_t gyro_timestamp; + uint64_t mag_timestamp; + uint64_t baro_timestamp; + +protected: + void subscribe(Mavlink *mavlink) + { + sensor_sub = mavlink->add_orb_subscription(ORB_ID(sensor_combined)); + sensor = (struct sensor_combined_s *)sensor_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (sensor_sub->update(t)) { + uint16_t fields_updated = 0; + + if (accel_timestamp != sensor->accelerometer_timestamp) { + /* mark first three dimensions as changed */ + fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); + accel_timestamp = sensor->accelerometer_timestamp; + } + + if (gyro_timestamp != sensor->timestamp) { + /* mark second group dimensions as changed */ + fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); + gyro_timestamp = sensor->timestamp; + } + + if (mag_timestamp != sensor->magnetometer_timestamp) { + /* mark third group dimensions as changed */ + fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); + mag_timestamp = sensor->magnetometer_timestamp; + } + + if (baro_timestamp != sensor->baro_timestamp) { + /* mark last group dimensions as changed */ + fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); + baro_timestamp = sensor->baro_timestamp; + } + + mavlink_msg_highres_imu_send(_channel, + sensor->timestamp, + sensor->accelerometer_m_s2[0], sensor->accelerometer_m_s2[1], sensor->accelerometer_m_s2[2], + sensor->gyro_rad_s[0], sensor->gyro_rad_s[1], sensor->gyro_rad_s[2], + sensor->magnetometer_ga[0], sensor->magnetometer_ga[1], sensor->magnetometer_ga[2], + sensor->baro_pres_mbar, sensor->differential_pressure_pa, + sensor->baro_alt_meter, sensor->baro_temp_celcius, + fields_updated); + } + } +}; + + +class MavlinkStreamAttitude : public MavlinkStream +{ +public: + const char *get_name() + { + return "ATTITUDE"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamAttitude(); + } + +private: + MavlinkOrbSubscription *att_sub; + struct vehicle_attitude_s *att; + +protected: + void subscribe(Mavlink *mavlink) + { + att_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude)); + att = (struct vehicle_attitude_s *)att_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (att_sub->update(t)) { + mavlink_msg_attitude_send(_channel, + att->timestamp / 1000, + att->roll, att->pitch, att->yaw, + att->rollspeed, att->pitchspeed, att->yawspeed); + } + } +}; + + +class MavlinkStreamAttitudeQuaternion : public MavlinkStream +{ +public: + const char *get_name() + { + return "ATTITUDE_QUATERNION"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamAttitudeQuaternion(); + } + +private: + MavlinkOrbSubscription *att_sub; + struct vehicle_attitude_s *att; + +protected: + void subscribe(Mavlink *mavlink) + { + att_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude)); + att = (struct vehicle_attitude_s *)att_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (att_sub->update(t)) { + mavlink_msg_attitude_quaternion_send(_channel, + att->timestamp / 1000, + att->q[0], + att->q[1], + att->q[2], + att->q[3], + att->rollspeed, + att->pitchspeed, + att->yawspeed); + } + } +}; + + +class MavlinkStreamVFRHUD : public MavlinkStream +{ +public: + const char *get_name() + { + return "VFR_HUD"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamVFRHUD(); + } + +private: + MavlinkOrbSubscription *att_sub; + struct vehicle_attitude_s *att; + + MavlinkOrbSubscription *pos_sub; + struct vehicle_global_position_s *pos; + + MavlinkOrbSubscription *armed_sub; + struct actuator_armed_s *armed; + + MavlinkOrbSubscription *act_sub; + struct actuator_controls_s *act; + + MavlinkOrbSubscription *airspeed_sub; + struct airspeed_s *airspeed; + +protected: + void subscribe(Mavlink *mavlink) + { + att_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude)); + att = (struct vehicle_attitude_s *)att_sub->get_data(); + + pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_global_position)); + pos = (struct vehicle_global_position_s *)pos_sub->get_data(); + + armed_sub = mavlink->add_orb_subscription(ORB_ID(actuator_armed)); + armed = (struct actuator_armed_s *)armed_sub->get_data(); + + act_sub = mavlink->add_orb_subscription(ORB_ID(actuator_controls_0)); + act = (struct actuator_controls_s *)act_sub->get_data(); + + airspeed_sub = mavlink->add_orb_subscription(ORB_ID(airspeed)); + airspeed = (struct airspeed_s *)airspeed_sub->get_data(); + } + + void send(const hrt_abstime t) + { + bool updated = att_sub->update(t); + updated |= pos_sub->update(t); + updated |= armed_sub->update(t); + updated |= act_sub->update(t); + updated |= airspeed_sub->update(t); + + if (updated) { + float groundspeed = sqrtf(pos->vel_n * pos->vel_n + pos->vel_e * pos->vel_e); + uint16_t heading = _wrap_2pi(att->yaw) * M_RAD_TO_DEG_F; + float throttle = armed->armed ? act->control[3] * 100.0f : 0.0f; + + mavlink_msg_vfr_hud_send(_channel, + airspeed->true_airspeed_m_s, + groundspeed, + heading, + throttle, + pos->alt, + -pos->vel_d); + } + } +}; + + +class MavlinkStreamGPSRawInt : public MavlinkStream +{ +public: + const char *get_name() + { + return "GPS_RAW_INT"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamGPSRawInt(); + } + +private: + MavlinkOrbSubscription *gps_sub; + struct vehicle_gps_position_s *gps; + +protected: + void subscribe(Mavlink *mavlink) + { + gps_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_gps_position)); + gps = (struct vehicle_gps_position_s *)gps_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (gps_sub->update(t)) { + mavlink_msg_gps_raw_int_send(_channel, + gps->timestamp_position, + gps->fix_type, + gps->lat, + gps->lon, + gps->alt, + cm_uint16_from_m_float(gps->eph_m), + cm_uint16_from_m_float(gps->epv_m), + gps->vel_m_s * 100.0f, + _wrap_2pi(gps->cog_rad) * M_RAD_TO_DEG_F * 1e2f, + gps->satellites_visible); + } + } +}; + + +class MavlinkStreamGlobalPositionInt : public MavlinkStream +{ +public: + const char *get_name() + { + return "GLOBAL_POSITION_INT"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamGlobalPositionInt(); + } + +private: + MavlinkOrbSubscription *pos_sub; + struct vehicle_global_position_s *pos; + + MavlinkOrbSubscription *home_sub; + struct home_position_s *home; + +protected: + void subscribe(Mavlink *mavlink) + { + pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_global_position)); + pos = (struct vehicle_global_position_s *)pos_sub->get_data(); + + home_sub = mavlink->add_orb_subscription(ORB_ID(home_position)); + home = (struct home_position_s *)home_sub->get_data(); + } + + void send(const hrt_abstime t) + { + bool updated = pos_sub->update(t); + updated |= home_sub->update(t); + + if (updated) { + mavlink_msg_global_position_int_send(_channel, + pos->timestamp / 1000, + pos->lat * 1e7, + pos->lon * 1e7, + pos->alt * 1000.0f, + (pos->alt - home->alt) * 1000.0f, + pos->vel_n * 100.0f, + pos->vel_e * 100.0f, + pos->vel_d * 100.0f, + _wrap_2pi(pos->yaw) * M_RAD_TO_DEG_F * 100.0f); + } + } +}; + + +class MavlinkStreamLocalPositionNED : public MavlinkStream +{ +public: + const char *get_name() + { + return "LOCAL_POSITION_NED"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamLocalPositionNED(); + } + +private: + MavlinkOrbSubscription *pos_sub; + struct vehicle_local_position_s *pos; + +protected: + void subscribe(Mavlink *mavlink) + { + pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_local_position)); + pos = (struct vehicle_local_position_s *)pos_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (pos_sub->update(t)) { + mavlink_msg_local_position_ned_send(_channel, + pos->timestamp / 1000, + pos->x, + pos->y, + pos->z, + pos->vx, + pos->vy, + pos->vz); + } + } +}; + + + +class MavlinkStreamViconPositionEstimate : public MavlinkStream +{ +public: + const char *get_name() + { + return "VICON_POSITION_ESTIMATE"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamViconPositionEstimate(); + } + +private: + MavlinkOrbSubscription *pos_sub; + struct vehicle_vicon_position_s *pos; + +protected: + void subscribe(Mavlink *mavlink) + { + pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_vicon_position)); + pos = (struct vehicle_vicon_position_s *)pos_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (pos_sub->update(t)) { + mavlink_msg_vicon_position_estimate_send(_channel, + pos->timestamp / 1000, + pos->x, + pos->y, + pos->z, + pos->roll, + pos->pitch, + pos->yaw); + } + } +}; + + +class MavlinkStreamGPSGlobalOrigin : public MavlinkStream +{ +public: + const char *get_name() + { + return "GPS_GLOBAL_ORIGIN"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamGPSGlobalOrigin(); + } + +private: + MavlinkOrbSubscription *home_sub; + struct home_position_s *home; + +protected: + void subscribe(Mavlink *mavlink) + { + home_sub = mavlink->add_orb_subscription(ORB_ID(home_position)); + home = (struct home_position_s *)home_sub->get_data(); + } + + void send(const hrt_abstime t) + { + + /* we're sending the GPS home periodically to ensure the + * the GCS does pick it up at one point */ + if (home_sub->is_published()) { + home_sub->update(t); + + mavlink_msg_gps_global_origin_send(_channel, + (int32_t)(home->lat * 1e7), + (int32_t)(home->lon * 1e7), + (int32_t)(home->alt) * 1000.0f); + } + } +}; + + +class MavlinkStreamServoOutputRaw : public MavlinkStream +{ +public: + MavlinkStreamServoOutputRaw(unsigned int n) : MavlinkStream(), _n(n) + { + sprintf(_name, "SERVO_OUTPUT_RAW_%d", _n); + } + + const char *get_name() + { + return _name; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamServoOutputRaw(_n); + } + +private: + MavlinkOrbSubscription *act_sub; + struct actuator_outputs_s *act; + + char _name[20]; + unsigned int _n; + +protected: + void subscribe(Mavlink *mavlink) + { + orb_id_t act_topics[] = { + ORB_ID(actuator_outputs_0), + ORB_ID(actuator_outputs_1), + ORB_ID(actuator_outputs_2), + ORB_ID(actuator_outputs_3) + }; + + act_sub = mavlink->add_orb_subscription(act_topics[_n]); + act = (struct actuator_outputs_s *)act_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (act_sub->update(t)) { + mavlink_msg_servo_output_raw_send(_channel, + act->timestamp / 1000, + _n, + act->output[0], + act->output[1], + act->output[2], + act->output[3], + act->output[4], + act->output[5], + act->output[6], + act->output[7]); + } + } +}; + + +class MavlinkStreamHILControls : public MavlinkStream +{ +public: + const char *get_name() + { + return "HIL_CONTROLS"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamHILControls(); + } + +private: + MavlinkOrbSubscription *status_sub; + struct vehicle_status_s *status; + + MavlinkOrbSubscription *pos_sp_triplet_sub; + struct position_setpoint_triplet_s *pos_sp_triplet; + + MavlinkOrbSubscription *act_sub; + struct actuator_outputs_s *act; + +protected: + void subscribe(Mavlink *mavlink) + { + status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status)); + status = (struct vehicle_status_s *)status_sub->get_data(); + + pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet)); + pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data(); + + act_sub = mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0)); + act = (struct actuator_outputs_s *)act_sub->get_data(); + } + + void send(const hrt_abstime t) + { + bool updated = act_sub->update(t); + (void)pos_sp_triplet_sub->update(t); + (void)status_sub->update(t); + + if (updated && (status->arming_state == ARMING_STATE_ARMED)) { + /* translate the current syste state to mavlink state and mode */ + uint8_t mavlink_state; + uint8_t mavlink_base_mode; + uint32_t mavlink_custom_mode; + get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); + + if (mavlink_system.type == MAV_TYPE_QUADROTOR || + mavlink_system.type == MAV_TYPE_HEXAROTOR || + mavlink_system.type == MAV_TYPE_OCTOROTOR) { + /* set number of valid outputs depending on vehicle type */ + unsigned n; + + switch (mavlink_system.type) { + case MAV_TYPE_QUADROTOR: + n = 4; + break; + + case MAV_TYPE_HEXAROTOR: + n = 6; + break; + + default: + n = 8; + break; + } + + /* scale / assign outputs depending on system type */ + float out[8]; + + for (unsigned i = 0; i < 8; i++) { + if (i < n) { + if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { + /* scale fake PWM out 900..2100 us to 0..1 for normal multirotors */ + out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN); + + } else { + /* send 0 when disarmed */ + out[i] = 0.0f; + } + + } else { + out[i] = -1.0f; + } + } + + mavlink_msg_hil_controls_send(_channel, + hrt_absolute_time(), + out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7], + mavlink_base_mode, + 0); + } else { + + /* fixed wing: scale all channels except throttle -1 .. 1 + * because we know that we set the mixers up this way + */ + + float out[8]; + + const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2; + + for (unsigned i = 0; i < 8; i++) { + if (i != 3) { + /* scale fake PWM out 900..2100 us to -1..+1 for normal channels */ + out[i] = (act->output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2); + + } else { + + /* scale fake PWM out 900..2100 us to 0..1 for throttle */ + out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN); + } + + } + + mavlink_msg_hil_controls_send(_channel, + hrt_absolute_time(), + out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7], + mavlink_base_mode, + 0); + } + } + } +}; + + +class MavlinkStreamGlobalPositionSetpointInt : public MavlinkStream +{ +public: + const char *get_name() + { + return "GLOBAL_POSITION_SETPOINT_INT"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamGlobalPositionSetpointInt(); + } + +private: + MavlinkOrbSubscription *pos_sp_triplet_sub; + struct position_setpoint_triplet_s *pos_sp_triplet; + +protected: + void subscribe(Mavlink *mavlink) + { + pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet)); + pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (pos_sp_triplet_sub->update(t)) { + mavlink_msg_global_position_setpoint_int_send(_channel, + MAV_FRAME_GLOBAL, + (int32_t)(pos_sp_triplet->current.lat * 1e7), + (int32_t)(pos_sp_triplet->current.lon * 1e7), + (int32_t)(pos_sp_triplet->current.alt * 1000), + (int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f)); + } + } +}; + + +class MavlinkStreamLocalPositionSetpoint : public MavlinkStream +{ +public: + const char *get_name() + { + return "LOCAL_POSITION_SETPOINT"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamLocalPositionSetpoint(); + } + +private: + MavlinkOrbSubscription *pos_sp_sub; + struct vehicle_local_position_setpoint_s *pos_sp; + +protected: + void subscribe(Mavlink *mavlink) + { + pos_sp_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_local_position_setpoint)); + pos_sp = (struct vehicle_local_position_setpoint_s *)pos_sp_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (pos_sp_sub->update(t)) { + mavlink_msg_local_position_setpoint_send(_channel, + MAV_FRAME_LOCAL_NED, + pos_sp->x, + pos_sp->y, + pos_sp->z, + pos_sp->yaw); + } + } +}; + + +class MavlinkStreamRollPitchYawThrustSetpoint : public MavlinkStream +{ +public: + const char *get_name() + { + return "ROLL_PITCH_YAW_THRUST_SETPOINT"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamRollPitchYawThrustSetpoint(); + } + +private: + MavlinkOrbSubscription *att_sp_sub; + struct vehicle_attitude_setpoint_s *att_sp; + +protected: + void subscribe(Mavlink *mavlink) + { + att_sp_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude_setpoint)); + att_sp = (struct vehicle_attitude_setpoint_s *)att_sp_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (att_sp_sub->update(t)) { + mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(_channel, + att_sp->timestamp / 1000, + att_sp->roll_body, + att_sp->pitch_body, + att_sp->yaw_body, + att_sp->thrust); + } + } +}; + + +class MavlinkStreamRollPitchYawRatesThrustSetpoint : public MavlinkStream +{ +public: + const char *get_name() + { + return "ROLL_PITCH_YAW_RATES_THRUST_SETPOINT"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamRollPitchYawRatesThrustSetpoint(); + } + +private: + MavlinkOrbSubscription *att_rates_sp_sub; + struct vehicle_rates_setpoint_s *att_rates_sp; + +protected: + void subscribe(Mavlink *mavlink) + { + att_rates_sp_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_rates_setpoint)); + att_rates_sp = (struct vehicle_rates_setpoint_s *)att_rates_sp_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (att_rates_sp_sub->update(t)) { + mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(_channel, + att_rates_sp->timestamp / 1000, + att_rates_sp->roll, + att_rates_sp->pitch, + att_rates_sp->yaw, + att_rates_sp->thrust); + } + } +}; + + +class MavlinkStreamRCChannelsRaw : public MavlinkStream +{ +public: + const char *get_name() + { + return "RC_CHANNELS_RAW"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamRCChannelsRaw(); + } + +private: + MavlinkOrbSubscription *rc_sub; + struct rc_input_values *rc; + +protected: + void subscribe(Mavlink *mavlink) + { + rc_sub = mavlink->add_orb_subscription(ORB_ID(input_rc)); + rc = (struct rc_input_values *)rc_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (rc_sub->update(t)) { + const unsigned port_width = 8; + + for (unsigned i = 0; (i * port_width) < rc->channel_count; i++) { + /* Channels are sent in MAVLink main loop at a fixed interval */ + mavlink_msg_rc_channels_raw_send(_channel, + rc->timestamp_publication / 1000, + i, + (rc->channel_count > (i * port_width) + 0) ? rc->values[(i * port_width) + 0] : UINT16_MAX, + (rc->channel_count > (i * port_width) + 1) ? rc->values[(i * port_width) + 1] : UINT16_MAX, + (rc->channel_count > (i * port_width) + 2) ? rc->values[(i * port_width) + 2] : UINT16_MAX, + (rc->channel_count > (i * port_width) + 3) ? rc->values[(i * port_width) + 3] : UINT16_MAX, + (rc->channel_count > (i * port_width) + 4) ? rc->values[(i * port_width) + 4] : UINT16_MAX, + (rc->channel_count > (i * port_width) + 5) ? rc->values[(i * port_width) + 5] : UINT16_MAX, + (rc->channel_count > (i * port_width) + 6) ? rc->values[(i * port_width) + 6] : UINT16_MAX, + (rc->channel_count > (i * port_width) + 7) ? rc->values[(i * port_width) + 7] : UINT16_MAX, + rc->rssi); + } + } + } +}; + + +class MavlinkStreamManualControl : public MavlinkStream +{ +public: + const char *get_name() + { + return "MANUAL_CONTROL"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamManualControl(); + } + +private: + MavlinkOrbSubscription *manual_sub; + struct manual_control_setpoint_s *manual; + +protected: + void subscribe(Mavlink *mavlink) + { + manual_sub = mavlink->add_orb_subscription(ORB_ID(manual_control_setpoint)); + manual = (struct manual_control_setpoint_s *)manual_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (manual_sub->update(t)) { + mavlink_msg_manual_control_send(_channel, + mavlink_system.sysid, + manual->x * 1000, + manual->y * 1000, + manual->z * 1000, + manual->r * 1000, + 0); + } + } +}; + + +class MavlinkStreamOpticalFlow : public MavlinkStream +{ +public: + const char *get_name() + { + return "OPTICAL_FLOW"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamOpticalFlow(); + } + +private: + MavlinkOrbSubscription *flow_sub; + struct optical_flow_s *flow; + +protected: + void subscribe(Mavlink *mavlink) + { + flow_sub = mavlink->add_orb_subscription(ORB_ID(optical_flow)); + flow = (struct optical_flow_s *)flow_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (flow_sub->update(t)) { + mavlink_msg_optical_flow_send(_channel, + flow->timestamp, + flow->sensor_id, + flow->flow_raw_x, flow->flow_raw_y, + flow->flow_comp_x_m, flow->flow_comp_y_m, + flow->quality, + flow->ground_distance_m); + } + } +}; + +class MavlinkStreamAttitudeControls : public MavlinkStream +{ +public: + const char *get_name() + { + return "ATTITUDE_CONTROLS"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamAttitudeControls(); + } + +private: + MavlinkOrbSubscription *att_ctrl_sub; + struct actuator_controls_s *att_ctrl; + +protected: + void subscribe(Mavlink *mavlink) + { + att_ctrl_sub = mavlink->add_orb_subscription(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); + att_ctrl = (struct actuator_controls_s *)att_ctrl_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (att_ctrl_sub->update(t)) { + /* send, add spaces so that string buffer is at least 10 chars long */ + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "rll ctrl ", + att_ctrl->control[0]); + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "ptch ctrl ", + att_ctrl->control[1]); + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "yaw ctrl ", + att_ctrl->control[2]); + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "thr ctrl ", + att_ctrl->control[3]); + } + } +}; + +class MavlinkStreamNamedValueFloat : public MavlinkStream +{ +public: + const char *get_name() + { + return "NAMED_VALUE_FLOAT"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamNamedValueFloat(); + } + +private: + MavlinkOrbSubscription *debug_sub; + struct debug_key_value_s *debug; + +protected: + void subscribe(Mavlink *mavlink) + { + debug_sub = mavlink->add_orb_subscription(ORB_ID(debug_key_value)); + debug = (struct debug_key_value_s *)debug_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (debug_sub->update(t)) { + /* enforce null termination */ + debug->key[sizeof(debug->key) - 1] = '\0'; + + mavlink_msg_named_value_float_send(_channel, + debug->timestamp_ms, + debug->key, + debug->value); + } + } +}; + +class MavlinkStreamCameraCapture : public MavlinkStream +{ +public: + const char *get_name() + { + return "CAMERA_CAPTURE"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamCameraCapture(); + } + +private: + MavlinkOrbSubscription *status_sub; + struct vehicle_status_s *status; + +protected: + void subscribe(Mavlink *mavlink) + { + status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status)); + status = (struct vehicle_status_s *)status_sub->get_data(); + } + + void send(const hrt_abstime t) + { + (void)status_sub->update(t); + + if (status->arming_state == ARMING_STATE_ARMED + || status->arming_state == ARMING_STATE_ARMED_ERROR) { + + /* send camera capture on */ + mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0); + + } else { + /* send camera capture off */ + mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0); + } + } +}; + +class MavlinkStreamDistanceSensor : public MavlinkStream +{ +public: + const char *get_name() + { + return "DISTANCE_SENSOR"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamDistanceSensor(); + } + +private: + MavlinkOrbSubscription *range_sub; + struct range_finder_report *range; + +protected: + void subscribe(Mavlink *mavlink) + { + range_sub = mavlink->add_orb_subscription(ORB_ID(sensor_range_finder)); + range = (struct range_finder_report *)range_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (range_sub->update(t)) { + + uint8_t type; + + switch (range->type) { + case RANGE_FINDER_TYPE_LASER: + type = MAV_DISTANCE_SENSOR_LASER; + break; + } + + uint8_t id = 0; + uint8_t orientation = 0; + uint8_t covariance = 20; + + mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, + range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance); + } + } +}; + +MavlinkStream *streams_list[] = { + new MavlinkStreamHeartbeat(), + new MavlinkStreamSysStatus(), + new MavlinkStreamHighresIMU(), + new MavlinkStreamAttitude(), + new MavlinkStreamAttitudeQuaternion(), + new MavlinkStreamVFRHUD(), + new MavlinkStreamGPSRawInt(), + new MavlinkStreamGlobalPositionInt(), + new MavlinkStreamLocalPositionNED(), + new MavlinkStreamGPSGlobalOrigin(), + new MavlinkStreamServoOutputRaw(0), + new MavlinkStreamServoOutputRaw(1), + new MavlinkStreamServoOutputRaw(2), + new MavlinkStreamServoOutputRaw(3), + new MavlinkStreamHILControls(), + new MavlinkStreamGlobalPositionSetpointInt(), + new MavlinkStreamLocalPositionSetpoint(), + new MavlinkStreamRollPitchYawThrustSetpoint(), + new MavlinkStreamRollPitchYawRatesThrustSetpoint(), + new MavlinkStreamRCChannelsRaw(), + new MavlinkStreamManualControl(), + new MavlinkStreamOpticalFlow(), + new MavlinkStreamAttitudeControls(), + new MavlinkStreamNamedValueFloat(), + new MavlinkStreamCameraCapture(), + new MavlinkStreamDistanceSensor(), + new MavlinkStreamViconPositionEstimate(), + nullptr +}; diff --git a/src/modules/controllib/uorb/UOrbSubscription.cpp b/src/modules/mavlink/mavlink_messages.h similarity index 82% rename from src/modules/controllib/uorb/UOrbSubscription.cpp rename to src/modules/mavlink/mavlink_messages.h index 022cadd245..b8823263a8 100644 --- a/src/modules/controllib/uorb/UOrbSubscription.cpp +++ b/src/modules/mavlink/mavlink_messages.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,20 +32,17 @@ ****************************************************************************/ /** - * @file UOrbSubscription.cpp + * @file mavlink_messages.h + * MAVLink 1.0 message formatters definition. * + * @author Anton Babushkin */ -#include "UOrbSubscription.hpp" +#ifndef MAVLINK_MESSAGES_H_ +#define MAVLINK_MESSAGES_H_ -namespace control -{ +#include "mavlink_stream.h" -bool __EXPORT UOrbSubscriptionBase::updated() -{ - bool isUpdated = false; - orb_check(_handle, &isUpdated); - return isUpdated; -} +extern MavlinkStream *streams_list[]; -} // namespace control +#endif /* MAVLINK_MESSAGES_H_ */ diff --git a/src/modules/sdlog/sdlog_ringbuffer.c b/src/modules/mavlink/mavlink_orb_subscription.cpp similarity index 58% rename from src/modules/sdlog/sdlog_ringbuffer.c rename to src/modules/mavlink/mavlink_orb_subscription.cpp index d7c8a47596..d432edd2b4 100644 --- a/src/modules/sdlog/sdlog_ringbuffer.c +++ b/src/modules/mavlink/mavlink_orb_subscription.cpp @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier + * Copyright (c) 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,59 +32,83 @@ ****************************************************************************/ /** - * @file sdlog_log.c - * MAVLink text logging. + * @file mavlink_orb_subscription.cpp + * uORB subscription implementation. * - * @author Lorenz Meier + * @author Anton Babushkin */ -#include +#include #include +#include +#include +#include -#include "sdlog_ringbuffer.h" +#include "mavlink_orb_subscription.h" -void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size) +MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) : + _fd(orb_subscribe(_topic)), + _published(false), + _topic(topic), + _last_check(0), + next(nullptr) { - lb->size = size; - lb->start = 0; - lb->count = 0; - lb->elems = (struct sdlog_sysvector *)calloc(lb->size, sizeof(struct sdlog_sysvector)); + _data = malloc(topic->o_size); + memset(_data, 0, topic->o_size); } -int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb) +MavlinkOrbSubscription::~MavlinkOrbSubscription() { - return lb->count == (int)lb->size; + close(_fd); + free(_data); } -int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb) +const orb_id_t +MavlinkOrbSubscription::get_topic() { - return lb->count == 0; + return _topic; } - -// XXX make these functions thread-safe -void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem) +void * +MavlinkOrbSubscription::get_data() { - int end = (lb->start + lb->count) % lb->size; - memcpy(&(lb->elems[end]), elem, sizeof(struct sdlog_sysvector)); + return _data; +} - if (sdlog_logbuffer_is_full(lb)) { - lb->start = (lb->start + 1) % lb->size; /* full, overwrite */ +bool +MavlinkOrbSubscription::update(const hrt_abstime t) +{ + if (_last_check == t) { + /* already checked right now, return result of the check */ + return _updated; } else { - ++lb->count; + _last_check = t; + orb_check(_fd, &_updated); + + if (_updated) { + orb_copy(_topic, _fd, _data); + _published = true; + return true; + } } + + return false; } -int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem) +bool +MavlinkOrbSubscription::is_published() { - if (!sdlog_logbuffer_is_empty(lb)) { - memcpy(elem, &(lb->elems[lb->start]), sizeof(struct sdlog_sysvector)); - lb->start = (lb->start + 1) % lb->size; - --lb->count; - return 0; - - } else { - return 1; + if (_published) { + return true; } + + bool updated; + orb_check(_fd, &updated); + + if (updated) { + _published = true; + } + + return _published; } diff --git a/src/modules/mavlink/mavlink_orb_subscription.h b/src/modules/mavlink/mavlink_orb_subscription.h new file mode 100644 index 0000000000..5c6543e813 --- /dev/null +++ b/src/modules/mavlink/mavlink_orb_subscription.h @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * 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_orb_subscription.h + * uORB subscription definition. + * + * @author Anton Babushkin + */ + +#ifndef MAVLINK_ORB_SUBSCRIPTION_H_ +#define MAVLINK_ORB_SUBSCRIPTION_H_ + +#include +#include + + +class MavlinkOrbSubscription +{ +public: + MavlinkOrbSubscription *next; /*< pointer to next subscription in list */ + + MavlinkOrbSubscription(const orb_id_t topic); + ~MavlinkOrbSubscription(); + + bool update(const hrt_abstime t); + + /** + * Check if the topic has been published. + * + * This call will return true if the topic was ever published. + * @return true if the topic has been published at least once. + */ + bool is_published(); + void *get_data(); + const orb_id_t get_topic(); + +private: + const orb_id_t _topic; /*< topic metadata */ + int _fd; /*< subscription handle */ + bool _published; /*< topic was ever published */ + void *_data; /*< pointer to data buffer */ + hrt_abstime _last_check; /*< time of last check */ + bool _updated; /*< updated on last check */ +}; + + +#endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */ diff --git a/src/modules/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c deleted file mode 100644 index 18ca7a854b..0000000000 --- a/src/modules/mavlink/mavlink_parameters.c +++ /dev/null @@ -1,230 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * 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_parameters.c - * MAVLink parameter protocol implementation (BSD-relicensed). - * - * @author Lorenz Meier - */ - -#include "mavlink_bridge_header.h" -#include "mavlink_parameters.h" -#include -#include "math.h" /* isinf / isnan checks */ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -extern mavlink_system_t mavlink_system; - -extern int mavlink_missionlib_send_message(mavlink_message_t *msg); -extern int mavlink_missionlib_send_gcs_string(const char *string); - -/** - * If the queue index is not at 0, the queue sending - * logic will send parameters from the current index - * to len - 1, the end of the param list. - */ -static unsigned int mavlink_param_queue_index = 0; - -/** - * Callback for param interface. - */ -void mavlink_pm_callback(void *arg, param_t param); - -void mavlink_pm_callback(void *arg, param_t param) -{ - mavlink_pm_send_param(param); - usleep(*(unsigned int *)arg); -} - -void mavlink_pm_send_all_params(unsigned int delay) -{ - unsigned int dbuf = delay; - param_foreach(&mavlink_pm_callback, &dbuf, false); -} - -int mavlink_pm_queued_send() -{ - if (mavlink_param_queue_index < param_count()) { - mavlink_pm_send_param(param_for_index(mavlink_param_queue_index)); - mavlink_param_queue_index++; - return 0; - - } else { - return 1; - } -} - -void mavlink_pm_start_queued_send() -{ - mavlink_param_queue_index = 0; -} - -int mavlink_pm_send_param_for_index(uint16_t index) -{ - return mavlink_pm_send_param(param_for_index(index)); -} - -int mavlink_pm_send_param_for_name(const char *name) -{ - return mavlink_pm_send_param(param_find(name)); -} - -int mavlink_pm_send_param(param_t param) -{ - if (param == PARAM_INVALID) return 1; - - /* buffers for param transmission */ - static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; - float val_buf; - static mavlink_message_t tx_msg; - - /* query parameter type */ - param_type_t type = param_type(param); - /* copy parameter name */ - strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - - /* - * Map onboard parameter type to MAVLink type, - * endianess matches (both little endian) - */ - uint8_t mavlink_type; - - if (type == PARAM_TYPE_INT32) { - mavlink_type = MAVLINK_TYPE_INT32_T; - - } else if (type == PARAM_TYPE_FLOAT) { - mavlink_type = MAVLINK_TYPE_FLOAT; - - } else { - mavlink_type = MAVLINK_TYPE_FLOAT; - } - - /* - * get param value, since MAVLink encodes float and int params in the same - * space during transmission, copy param onto float val_buf - */ - - int ret; - - if ((ret = param_get(param, &val_buf)) != OK) { - return ret; - } - - mavlink_msg_param_value_pack_chan(mavlink_system.sysid, - mavlink_system.compid, - MAVLINK_COMM_0, - &tx_msg, - name_buf, - val_buf, - mavlink_type, - param_count(), - param_get_index(param)); - ret = mavlink_missionlib_send_message(&tx_msg); - return ret; -} - -void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) -{ - switch (msg->msgid) { - case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { - /* Start sending parameters */ - mavlink_pm_start_queued_send(); - mavlink_missionlib_send_gcs_string("[mavlink pm] sending list"); - } break; - - case MAVLINK_MSG_ID_PARAM_SET: { - - /* Handle parameter setting */ - - if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { - mavlink_param_set_t mavlink_param_set; - mavlink_msg_param_set_decode(msg, &mavlink_param_set); - - if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) { - /* local name buffer to enforce null-terminated string */ - char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; - strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - /* enforce null termination */ - name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; - /* attempt to find parameter, set and send it */ - param_t param = param_find(name); - - if (param == PARAM_INVALID) { - char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; - sprintf(buf, "[mavlink pm] unknown: %s", name); - mavlink_missionlib_send_gcs_string(buf); - - } else { - /* set and send parameter */ - param_set(param, &(mavlink_param_set.param_value)); - mavlink_pm_send_param(param); - } - } - } - } break; - - case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { - mavlink_param_request_read_t mavlink_param_request_read; - mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); - - if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) { - /* when no index is given, loop through string ids and compare them */ - if (mavlink_param_request_read.param_index == -1) { - /* local name buffer to enforce null-terminated string */ - char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; - strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - /* enforce null termination */ - name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; - /* attempt to find parameter and send it */ - mavlink_pm_send_param_for_name(name); - - } else { - /* when index is >= 0, send this parameter again */ - mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index); - } - } - - } break; - } -} diff --git a/src/modules/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h deleted file mode 100644 index b1e38bcc85..0000000000 --- a/src/modules/mavlink/mavlink_parameters.h +++ /dev/null @@ -1,104 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * 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_parameters.h - * MAVLink parameter protocol definitions (BSD-relicensed). - * - * @author Lorenz Meier - */ - -/* This assumes you have the mavlink headers on your include path - or in the same folder as this source file */ - - -#include -#include -#include - -/** - * Handle parameter related messages. - */ -void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg); - -/** - * Send all parameters at once. - * - * This function blocks until all parameters have been sent. - * it delays each parameter by the passed amount of microseconds. - * - * @param delay The delay in us between sending all parameters. - */ -void mavlink_pm_send_all_params(unsigned int delay); - -/** - * Send one parameter. - * - * @param param The parameter id to send. - * @return zero on success, nonzero on failure. - */ -int mavlink_pm_send_param(param_t param); - -/** - * Send one parameter identified by index. - * - * @param index The index of the parameter to send. - * @return zero on success, nonzero else. - */ -int mavlink_pm_send_param_for_index(uint16_t index); - -/** - * Send one parameter identified by name. - * - * @param name The index of the parameter to send. - * @return zero on success, nonzero else. - */ -int mavlink_pm_send_param_for_name(const char *name); - -/** - * Send a queue of parameters, one parameter per function call. - * - * @return zero on success, nonzero on failure - */ -int mavlink_pm_queued_send(void); - -/** - * Start sending the parameter queue. - * - * This function will not directly send parameters, but instead - * activate the sending of one parameter on each call of - * mavlink_pm_queued_send(). - * @see mavlink_pm_queued_send() - */ -void mavlink_pm_start_queued_send(void); diff --git a/src/systemcmds/hw_ver/hw_ver.c b/src/modules/mavlink/mavlink_rate_limiter.cpp similarity index 72% rename from src/systemcmds/hw_ver/hw_ver.c rename to src/modules/mavlink/mavlink_rate_limiter.cpp index 4b84523cc1..9cdda8b17c 100644 --- a/src/systemcmds/hw_ver/hw_ver.c +++ b/src/modules/mavlink/mavlink_rate_limiter.cpp @@ -32,42 +32,41 @@ ****************************************************************************/ /** - * @file hw_ver.c + * @file mavlink_rate_limiter.cpp + * Message rate limiter implementation. * - * Show and test hardware version. + * @author Anton Babushkin */ -#include +#include "mavlink_rate_limiter.h" -#include -#include -#include -#include - -__EXPORT int hw_ver_main(int argc, char *argv[]); - -int -hw_ver_main(int argc, char *argv[]) +MavlinkRateLimiter::MavlinkRateLimiter() : _last_sent(0), _interval(1000000) { - if (argc >= 2) { - if (!strcmp(argv[1], "show")) { - printf(HW_ARCH "\n"); - exit(0); - } +} - if (!strcmp(argv[1], "compare")) { - if (argc >= 3) { - int ret = strcmp(HW_ARCH, argv[2]) != 0; - if (ret == 0) { - printf("hw_ver match: %s\n", HW_ARCH); - } - exit(ret); +MavlinkRateLimiter::MavlinkRateLimiter(unsigned int interval) : _last_sent(0), _interval(interval) +{ +} - } else { - errx(1, "not enough arguments, try 'compare PX4FMU_1'"); - } - } +MavlinkRateLimiter::~MavlinkRateLimiter() +{ +} + +void +MavlinkRateLimiter::set_interval(unsigned int interval) +{ + _interval = interval; +} + +bool +MavlinkRateLimiter::check(hrt_abstime t) +{ + uint64_t dt = t - _last_sent; + + if (dt > 0 && dt >= _interval) { + _last_sent = (t / _interval) * _interval; + return true; } - errx(1, "expected a command, try 'show' or 'compare'"); + return false; } diff --git a/src/modules/mavlink/mavlink_rate_limiter.h b/src/modules/mavlink/mavlink_rate_limiter.h new file mode 100644 index 0000000000..0b37538e62 --- /dev/null +++ b/src/modules/mavlink/mavlink_rate_limiter.h @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * 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_rate_limiter.h + * Message rate limiter definition. + * + * @author Anton Babushkin + */ + +#ifndef MAVLINK_RATE_LIMITER_H_ +#define MAVLINK_RATE_LIMITER_H_ + +#include + + +class MavlinkRateLimiter +{ +private: + hrt_abstime _last_sent; + hrt_abstime _interval; + +public: + MavlinkRateLimiter(); + MavlinkRateLimiter(unsigned int interval); + ~MavlinkRateLimiter(); + void set_interval(unsigned int interval); + bool check(hrt_abstime t); +}; + + +#endif /* MAVLINK_RATE_LIMITER_H_ */ diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 1dbe564955..72b9ee83a3 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,10 +32,11 @@ ****************************************************************************/ /** - * @file mavlink_receiver.c + * @file mavlink_receiver.cpp * MAVLink protocol message receive and dispatch * * @author Lorenz Meier + * @author Anton Babushkin */ /* XXX trim includes */ @@ -77,286 +77,81 @@ __BEGIN_DECLS #include "mavlink_bridge_header.h" -#include "waypoints.h" -#include "orb_topics.h" -#include "mavlink_hil.h" -#include "mavlink_parameters.h" +#include "mavlink_receiver.h" +#include "mavlink_main.h" #include "util.h" -extern bool gcs_link; - __END_DECLS -/* XXX should be in a header somewhere */ -extern "C" pthread_t receive_start(int uart); +static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f; -static void handle_message(mavlink_message_t *msg); -static void *receive_thread(void *arg); +MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : + _mavlink(parent), -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_local_position_s hil_local_pos; -struct vehicle_attitude_s hil_attitude; -struct vehicle_gps_position_s hil_gps; -struct sensor_combined_s hil_sensors; -struct battery_status_s hil_battery_status; -static orb_advert_t pub_hil_global_pos = -1; -static orb_advert_t pub_hil_local_pos = -1; -static orb_advert_t pub_hil_attitude = -1; -static orb_advert_t pub_hil_gps = -1; -static orb_advert_t pub_hil_sensors = -1; -static orb_advert_t pub_hil_gyro = -1; -static orb_advert_t pub_hil_accel = -1; -static orb_advert_t pub_hil_mag = -1; -static orb_advert_t pub_hil_baro = -1; -static orb_advert_t pub_hil_airspeed = -1; -static orb_advert_t pub_hil_battery = -1; - -/* packet counter */ -static int hil_counter = 0; -static int hil_frames = 0; -static uint64_t old_timestamp = 0; - -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 orb_advert_t telemetry_status_pub = -1; - -// variables for HIL reference position -static int32_t lat0 = 0; -static int32_t lon0 = 0; -static double alt0 = 0; - -static void -handle_message(mavlink_message_t *msg) + _global_pos_pub(-1), + _local_pos_pub(-1), + _attitude_pub(-1), + _gps_pub(-1), + _sensors_pub(-1), + _gyro_pub(-1), + _accel_pub(-1), + _mag_pub(-1), + _baro_pub(-1), + _airspeed_pub(-1), + _battery_pub(-1), + _cmd_pub(-1), + _flow_pub(-1), + _offboard_control_sp_pub(-1), + _vicon_position_pub(-1), + _telemetry_status_pub(-1), + _rc_pub(-1), + _manual_pub(-1), + _hil_frames(0), + _old_timestamp(0), + _hil_local_proj_inited(0), + _hil_local_alt0(0.0) { - if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) { + memset(&hil_local_pos, 0, sizeof(hil_local_pos)); +} - mavlink_command_long_t cmd_mavlink; - mavlink_msg_command_long_decode(msg, &cmd_mavlink); +MavlinkReceiver::~MavlinkReceiver() +{ +} - 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); +void +MavlinkReceiver::handle_message(mavlink_message_t *msg) +{ + switch (msg->msgid) { + case MAVLINK_MSG_ID_COMMAND_LONG: + handle_message_command_long(msg); + break; - /* terminate other threads and this thread */ - thread_should_exit = true; + case MAVLINK_MSG_ID_OPTICAL_FLOW: + handle_message_optical_flow(msg); + break; - } else { + case MAVLINK_MSG_ID_SET_MODE: + handle_message_set_mode(msg); + break; - /* 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; - // XXX do proper translation - vcmd.command = (enum VEHICLE_CMD)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; + case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE: + handle_message_vicon_position_estimate(msg); + break; - /* check if topic is advertised */ - if (cmd_pub <= 0) { - cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); + case MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST: + handle_message_quad_swarm_roll_pitch_yaw_thrust(msg); + break; - } else { - /* publish */ - orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); - } - } - } - } + case MAVLINK_MSG_ID_RADIO_STATUS: + handle_message_radio_status(msg); + break; - if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) { - mavlink_optical_flow_t flow; - mavlink_msg_optical_flow_decode(msg, &flow); + case MAVLINK_MSG_ID_MANUAL_CONTROL: + handle_message_manual_control(msg); + break; - 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); - - union px4_custom_mode custom_mode; - custom_mode.data = new_mode.custom_mode; - /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ - vcmd.param1 = new_mode.base_mode; - vcmd.param2 = custom_mode.main_mode; - vcmd.param3 = 0; - vcmd.param4 = 0; - vcmd.param5 = 0; - vcmd.param6 = 0; - vcmd.param7 = 0; - vcmd.command = VEHICLE_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.timestamp = hrt_absolute_time(); - - vicon_position.x = pos.x; - vicon_position.y = pos.y; - vicon_position.z = pos.z; - - vicon_position.roll = pos.roll; - vicon_position.pitch = pos.pitch; - vicon_position.yaw = pos.yaw; - - 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); - - if (mavlink_system.sysid < 4) { - - /* switch to a receiving link mode */ - gcs_link = false; - - /* - * rate control mode - defined by MAVLink - */ - - uint8_t ml_mode = 0; - bool ml_armed = false; - - 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 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX; - - if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) { - ml_armed = false; - } - - offboard_control_sp.armed = ml_armed; - offboard_control_sp.mode = static_cast(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); - } - } - } - - /* handle status updates of the radio */ - if (msg->msgid == MAVLINK_MSG_ID_RADIO_STATUS) { - - struct telemetry_status_s tstatus; - - mavlink_radio_status_t rstatus; - mavlink_msg_radio_status_decode(msg, &rstatus); - - /* publish telemetry status topic */ - tstatus.timestamp = hrt_absolute_time(); - tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO; - tstatus.rssi = rstatus.rssi; - tstatus.remote_rssi = rstatus.remrssi; - tstatus.txbuf = rstatus.txbuf; - tstatus.noise = rstatus.noise; - tstatus.remote_noise = rstatus.remnoise; - tstatus.rxerrors = rstatus.rxerrors; - tstatus.fixed = rstatus.fixed; - - if (telemetry_status_pub <= 0) { - telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); - - } else { - orb_publish(ORB_ID(telemetry_status), telemetry_status_pub, &tstatus); - } + default: + break; } /* @@ -365,443 +160,704 @@ handle_message(mavlink_message_t *msg) * 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 + * + * Accept HIL GPS messages if use_hil_gps flag is true. + * This allows to provide fake gps measurements to the system. */ + if (_mavlink->get_hil_enabled()) { + switch (msg->msgid) { + case MAVLINK_MSG_ID_HIL_SENSOR: + handle_message_hil_sensor(msg); + break; - if (mavlink_hil_enabled) { + case MAVLINK_MSG_ID_HIL_STATE_QUATERNION: + handle_message_hil_state_quaternion(msg); + break; - uint64_t timestamp = hrt_absolute_time(); + default: + break; + } + } - if (msg->msgid == MAVLINK_MSG_ID_HIL_SENSOR) { - mavlink_hil_sensor_t imu; - mavlink_msg_hil_sensor_decode(msg, &imu); + if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) { + switch (msg->msgid) { + case MAVLINK_MSG_ID_HIL_GPS: + handle_message_hil_gps(msg); + break; - /* sensors general */ - hil_sensors.timestamp = hrt_absolute_time(); - - /* hil gyro */ - static const float mrad2rad = 1.0e-3f; - hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad; - hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad; - hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad; - hil_sensors.gyro_rad_s[0] = imu.xgyro; - hil_sensors.gyro_rad_s[1] = imu.ygyro; - hil_sensors.gyro_rad_s[2] = imu.zgyro; - hil_sensors.gyro_counter = hil_counter; - - /* accelerometer */ - static const float mg2ms2 = 9.8f / 1000.0f; - hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2; - hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2; - hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2; - hil_sensors.accelerometer_m_s2[0] = imu.xacc; - hil_sensors.accelerometer_m_s2[1] = imu.yacc; - hil_sensors.accelerometer_m_s2[2] = imu.zacc; - hil_sensors.accelerometer_mode = 0; // TODO what is this? - hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 - hil_sensors.accelerometer_counter = hil_counter; - - /* adc */ - hil_sensors.adc_voltage_v[0] = 0.0f; - hil_sensors.adc_voltage_v[1] = 0.0f; - hil_sensors.adc_voltage_v[2] = 0.0f; - - /* magnetometer */ - float mga2ga = 1.0e-3f; - hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga; - hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga; - hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga; - hil_sensors.magnetometer_ga[0] = imu.xmag; - hil_sensors.magnetometer_ga[1] = imu.ymag; - hil_sensors.magnetometer_ga[2] = imu.zmag; - hil_sensors.magnetometer_range_ga = 32.7f; // int16 - hil_sensors.magnetometer_mode = 0; // TODO what is this - hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; - hil_sensors.magnetometer_counter = hil_counter; - - /* baro */ - hil_sensors.baro_pres_mbar = imu.abs_pressure; - hil_sensors.baro_alt_meter = imu.pressure_alt; - hil_sensors.baro_temp_celcius = imu.temperature; - hil_sensors.baro_counter = hil_counter; - - /* differential pressure */ - hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa - hil_sensors.differential_pressure_counter = hil_counter; - - /* airspeed from differential pressure, ambient pressure and temp */ - struct airspeed_s airspeed; - - float ias = calc_indicated_airspeed(hil_sensors.differential_pressure_pa); - // XXX need to fix this - float tas = ias; - - airspeed.timestamp = hrt_absolute_time(); - airspeed.indicated_airspeed_m_s = ias; - airspeed.true_airspeed_m_s = tas; - - if (pub_hil_airspeed < 0) { - pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed); - - } else { - orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed); - } - - //warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s); - - /* individual sensor publications */ - struct gyro_report gyro; - gyro.x_raw = imu.xgyro / mrad2rad; - gyro.y_raw = imu.ygyro / mrad2rad; - gyro.z_raw = imu.zgyro / mrad2rad; - gyro.x = imu.xgyro; - gyro.y = imu.ygyro; - gyro.z = imu.zgyro; - gyro.temperature = imu.temperature; - gyro.timestamp = hrt_absolute_time(); - - if (pub_hil_gyro < 0) { - pub_hil_gyro = orb_advertise(ORB_ID(sensor_gyro), &gyro); - - } else { - orb_publish(ORB_ID(sensor_gyro), pub_hil_gyro, &gyro); - } - - struct accel_report accel; - - accel.x_raw = imu.xacc / mg2ms2; - - accel.y_raw = imu.yacc / mg2ms2; - - accel.z_raw = imu.zacc / mg2ms2; - - accel.x = imu.xacc; - - accel.y = imu.yacc; - - accel.z = imu.zacc; - - accel.temperature = imu.temperature; - - accel.timestamp = hrt_absolute_time(); - - if (pub_hil_accel < 0) { - pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel); - - } else { - orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel); - } - - struct mag_report mag; - - mag.x_raw = imu.xmag / mga2ga; - - mag.y_raw = imu.ymag / mga2ga; - - mag.z_raw = imu.zmag / mga2ga; - - mag.x = imu.xmag; - - mag.y = imu.ymag; - - mag.z = imu.zmag; - - mag.timestamp = hrt_absolute_time(); - - if (pub_hil_mag < 0) { - pub_hil_mag = orb_advertise(ORB_ID(sensor_mag), &mag); - - } else { - orb_publish(ORB_ID(sensor_mag), pub_hil_mag, &mag); - } - - struct baro_report baro; - - baro.pressure = imu.abs_pressure; - - baro.altitude = imu.pressure_alt; - - baro.temperature = imu.temperature; - - baro.timestamp = hrt_absolute_time(); - - if (pub_hil_baro < 0) { - pub_hil_baro = orb_advertise(ORB_ID(sensor_baro), &baro); - - } else { - orb_publish(ORB_ID(sensor_baro), pub_hil_baro, &baro); - } - - /* publish combined sensor topic */ - if (pub_hil_sensors > 0) { - orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); - - } else { - pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); - } - - /* fill in HIL battery status */ - hil_battery_status.timestamp = hrt_absolute_time(); - hil_battery_status.voltage_v = 11.1f; - hil_battery_status.current_a = 10.0f; - - /* lazily publish the battery voltage */ - if (pub_hil_battery > 0) { - orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status); - - } else { - pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status); - } - - // increment counters - hil_counter++; - hil_frames++; - - // output - if ((timestamp - old_timestamp) > 10000000) { - printf("receiving hil sensor at %d hz\n", hil_frames / 10); - old_timestamp = timestamp; - hil_frames = 0; - } + default: + break; } - if (msg->msgid == MAVLINK_MSG_ID_HIL_GPS) { + } - mavlink_hil_gps_t gps; - mavlink_msg_hil_gps_decode(msg, &gps); + /* If we've received a valid message, mark the flag indicating so. + This is used in the '-w' command-line flag. */ + _mavlink->set_has_received_messages(true); +} - /* gps */ - hil_gps.timestamp_position = gps.time_usec; - hil_gps.time_gps_usec = gps.time_usec; - hil_gps.lat = gps.lat; - hil_gps.lon = gps.lon; - hil_gps.alt = gps.alt; - hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m - hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m - hil_gps.timestamp_variance = gps.time_usec; - hil_gps.s_variance_m_s = 5.0f; - hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m; - hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s +void +MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) +{ + /* command */ + mavlink_command_long_t cmd_mavlink; + mavlink_msg_command_long_decode(msg, &cmd_mavlink); - /* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */ - float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; + 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 */ + warnx("terminated by remote command"); + fflush(stdout); + usleep(50000); - /* go back to -PI..PI */ - if (heading_rad > M_PI_F) - heading_rad -= 2.0f * M_PI_F; + /* terminate other threads and this thread */ + _mavlink->_task_should_exit = true; - hil_gps.timestamp_velocity = gps.time_usec; - hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m - hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m - hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m - hil_gps.vel_ned_valid = true; - /* COG (course over ground) is spec'ed as -PI..+PI */ - hil_gps.cog_rad = heading_rad; - hil_gps.fix_type = gps.fix_type; - hil_gps.satellites_visible = gps.satellites_visible; + } else { - /* publish GPS measurement data */ - if (pub_hil_gps > 0) { - orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps); - - } else { - pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); + if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { + warnx("ignoring CMD spoofed with same SYS/COMP ID"); + return; } - } + struct vehicle_command_s vcmd; + memset(&vcmd, 0, sizeof(vcmd)); - if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE_QUATERNION) { + /* 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; + // XXX do proper translation + vcmd.command = (enum VEHICLE_CMD)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; - mavlink_hil_state_quaternion_t hil_state; - mavlink_msg_hil_state_quaternion_decode(msg, &hil_state); - - struct airspeed_s airspeed; - airspeed.timestamp = hrt_absolute_time(); - airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f; - airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f; - - if (pub_hil_airspeed < 0) { - pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed); + if (_cmd_pub < 0) { + _cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); } else { - orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed); - } - - uint64_t timestamp = hrt_absolute_time(); - - // publish global position - if (pub_hil_global_pos > 0) { - orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos); - // global position packet - hil_global_pos.timestamp = timestamp; - hil_global_pos.global_valid = true; - 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.vel_n = hil_state.vx / 100.0f; - hil_global_pos.vel_e = hil_state.vy / 100.0f; - hil_global_pos.vel_d = hil_state.vz / 100.0f; - - } else { - pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); - } - - // publish local position - if (pub_hil_local_pos > 0) { - float x; - float y; - bool landed = hil_state.alt/1000.0f < (alt0 + 0.1); // XXX improve? - double lat = hil_state.lat*1e-7; - double lon = hil_state.lon*1e-7; - map_projection_project(lat, lon, &x, &y); - hil_local_pos.timestamp = timestamp; - hil_local_pos.xy_valid = true; - hil_local_pos.z_valid = true; - hil_local_pos.v_xy_valid = true; - hil_local_pos.v_z_valid = true; - hil_local_pos.x = x; - hil_local_pos.y = y; - hil_local_pos.z = alt0 - hil_state.alt/1000.0f; - hil_local_pos.vx = hil_state.vx/100.0f; - hil_local_pos.vy = hil_state.vy/100.0f; - hil_local_pos.vz = hil_state.vz/100.0f; - hil_local_pos.yaw = hil_attitude.yaw; - hil_local_pos.xy_global = true; - hil_local_pos.z_global = true; - hil_local_pos.ref_timestamp = timestamp; - hil_local_pos.ref_lat = hil_state.lat; - hil_local_pos.ref_lon = hil_state.lon; - hil_local_pos.ref_alt = alt0; - hil_local_pos.landed = landed; - orb_publish(ORB_ID(vehicle_local_position), pub_hil_local_pos, &hil_local_pos); - } else { - pub_hil_local_pos = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos); - lat0 = hil_state.lat; - lon0 = hil_state.lon; - alt0 = hil_state.alt / 1000.0f; - map_projection_init(hil_state.lat, hil_state.lon); - } - - /* Calculate Rotation Matrix */ - math::Quaternion q(hil_state.attitude_quaternion); - math::Matrix<3,3> C_nb = q.to_dcm(); - math::Vector<3> euler = C_nb.to_euler(); - - /* set rotation matrix */ - for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) - hil_attitude.R[i][j] = C_nb(i, j); - - hil_attitude.R_valid = true; - - /* set quaternion */ - hil_attitude.q[0] = q(0); - hil_attitude.q[1] = q(1); - hil_attitude.q[2] = q(2); - hil_attitude.q[3] = q(3); - hil_attitude.q_valid = true; - - hil_attitude.roll = euler(0); - hil_attitude.pitch = euler(1); - hil_attitude.yaw = euler(2); - 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.timestamp = hrt_absolute_time(); - - if (pub_hil_attitude > 0) { - orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude); - - } else { - pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); - } - - struct accel_report accel; - - accel.x_raw = hil_state.xacc / 9.81f * 1e3f; - - accel.y_raw = hil_state.yacc / 9.81f * 1e3f; - - accel.z_raw = hil_state.zacc / 9.81f * 1e3f; - - accel.x = hil_state.xacc; - - accel.y = hil_state.yacc; - - accel.z = hil_state.zacc; - - accel.temperature = 25.0f; - - accel.timestamp = hrt_absolute_time(); - - if (pub_hil_accel < 0) { - pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel); - - } else { - orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel); - } - - /* fill in HIL battery status */ - hil_battery_status.timestamp = hrt_absolute_time(); - hil_battery_status.voltage_v = 11.1f; - hil_battery_status.current_a = 10.0f; - - /* lazily publish the battery voltage */ - if (pub_hil_battery > 0) { - orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status); - - } else { - pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status); + orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd); } } + } +} - if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) { - mavlink_manual_control_t man; - mavlink_msg_manual_control_decode(msg, &man); +void +MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg) +{ + /* optical flow */ + mavlink_optical_flow_t flow; + mavlink_msg_optical_flow_decode(msg, &flow); - struct rc_channels_s rc_hil; - memset(&rc_hil, 0, sizeof(rc_hil)); - static orb_advert_t rc_pub = 0; + struct optical_flow_s f; + memset(&f, 0, sizeof(f)); - rc_hil.timestamp = hrt_absolute_time(); - rc_hil.chan_count = 4; + f.timestamp = hrt_absolute_time(); + f.flow_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; - 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; + if (_flow_pub < 0) { + _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); - struct manual_control_setpoint_s mc; - static orb_advert_t mc_pub = 0; + } else { + orb_publish(ORB_ID(optical_flow), _flow_pub, &f); + } +} - int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); +void +MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg) +{ + mavlink_set_mode_t new_mode; + mavlink_msg_set_mode_decode(msg, &new_mode); - /* get a copy first, to prevent altering values that are not sent by the mavlink command */ - orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &mc); + struct vehicle_command_s vcmd; + memset(&vcmd, 0, sizeof(vcmd)); - 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; + union px4_custom_mode custom_mode; + custom_mode.data = new_mode.custom_mode; + /* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ + vcmd.param1 = new_mode.base_mode; + vcmd.param2 = custom_mode.main_mode; + vcmd.param3 = 0; + vcmd.param4 = 0; + vcmd.param5 = 0; + vcmd.param6 = 0; + vcmd.param7 = 0; + vcmd.command = VEHICLE_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; - /* fake RC channels with manual control input from simulator */ + if (_cmd_pub < 0) { + _cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); + } else { + orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd); + } +} - if (rc_pub == 0) { - rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil); +void +MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg) +{ + mavlink_vicon_position_estimate_t pos; + mavlink_msg_vicon_position_estimate_decode(msg, &pos); - } else { - orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil); - } + struct vehicle_vicon_position_s vicon_position; + memset(&vicon_position, 0, sizeof(vicon_position)); - if (mc_pub == 0) { - mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc); + vicon_position.timestamp = hrt_absolute_time(); + vicon_position.x = pos.x; + vicon_position.y = pos.y; + vicon_position.z = pos.z; + vicon_position.roll = pos.roll; + vicon_position.pitch = pos.pitch; + vicon_position.yaw = pos.yaw; - } else { - orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc); - } + 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); + } +} + +void +MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg) +{ + 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); + + if (mavlink_system.sysid < 4) { + struct offboard_control_setpoint_s offboard_control_sp; + memset(&offboard_control_sp, 0, sizeof(offboard_control_sp)); + + uint8_t ml_mode = 0; + bool ml_armed = false; + + 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 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX; + offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX; + offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX; + offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX; + + if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) { + ml_armed = false; + } + + offboard_control_sp.armed = ml_armed; + offboard_control_sp.mode = static_cast(ml_mode); + + offboard_control_sp.timestamp = hrt_absolute_time(); + + if (_offboard_control_sp_pub < 0) { + _offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); + + } else { + orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp); + } + } +} + +void +MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) +{ + mavlink_radio_status_t rstatus; + mavlink_msg_radio_status_decode(msg, &rstatus); + + struct telemetry_status_s tstatus; + memset(&tstatus, 0, sizeof(tstatus)); + + tstatus.timestamp = hrt_absolute_time(); + tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO; + tstatus.rssi = rstatus.rssi; + tstatus.remote_rssi = rstatus.remrssi; + tstatus.txbuf = rstatus.txbuf; + tstatus.noise = rstatus.noise; + tstatus.remote_noise = rstatus.remnoise; + tstatus.rxerrors = rstatus.rxerrors; + tstatus.fixed = rstatus.fixed; + + if (_telemetry_status_pub < 0) { + _telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); + + } else { + orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus); + } +} + +void +MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) +{ + mavlink_manual_control_t man; + mavlink_msg_manual_control_decode(msg, &man); + + struct manual_control_setpoint_s manual; + memset(&manual, 0, sizeof(manual)); + + manual.timestamp = hrt_absolute_time(); + manual.x = man.x / 1000.0f; + manual.y = man.y / 1000.0f; + manual.r = man.r / 1000.0f; + manual.z = man.z / 1000.0f; + + if (_manual_pub < 0) { + _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); + + } else { + orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual); + } +} + +void +MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) +{ + mavlink_hil_sensor_t imu; + mavlink_msg_hil_sensor_decode(msg, &imu); + + uint64_t timestamp = hrt_absolute_time(); + + /* airspeed */ + { + struct airspeed_s airspeed; + memset(&airspeed, 0, sizeof(airspeed)); + + float ias = calc_indicated_airspeed(imu.diff_pressure * 1e2f); + // XXX need to fix this + float tas = ias; + + airspeed.timestamp = timestamp; + airspeed.indicated_airspeed_m_s = ias; + airspeed.true_airspeed_m_s = tas; + + if (_airspeed_pub < 0) { + _airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed); + + } else { + orb_publish(ORB_ID(airspeed), _airspeed_pub, &airspeed); + } + } + + /* gyro */ + { + struct gyro_report gyro; + memset(&gyro, 0, sizeof(gyro)); + + gyro.timestamp = timestamp; + gyro.x_raw = imu.xgyro * 1000.0f; + gyro.y_raw = imu.ygyro * 1000.0f; + gyro.z_raw = imu.zgyro * 1000.0f; + gyro.x = imu.xgyro; + gyro.y = imu.ygyro; + gyro.z = imu.zgyro; + gyro.temperature = imu.temperature; + + if (_gyro_pub < 0) { + _gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro); + + } else { + orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro); + } + } + + /* accelerometer */ + { + struct accel_report accel; + memset(&accel, 0, sizeof(accel)); + + accel.timestamp = timestamp; + accel.x_raw = imu.xacc / mg2ms2; + accel.y_raw = imu.yacc / mg2ms2; + accel.z_raw = imu.zacc / mg2ms2; + accel.x = imu.xacc; + accel.y = imu.yacc; + accel.z = imu.zacc; + accel.temperature = imu.temperature; + + if (_accel_pub < 0) { + _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); + + } else { + orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); + } + } + + /* magnetometer */ + { + struct mag_report mag; + memset(&mag, 0, sizeof(mag)); + + mag.timestamp = timestamp; + mag.x_raw = imu.xmag * 1000.0f; + mag.y_raw = imu.ymag * 1000.0f; + mag.z_raw = imu.zmag * 1000.0f; + mag.x = imu.xmag; + mag.y = imu.ymag; + mag.z = imu.zmag; + + if (_mag_pub < 0) { + _mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag); + + } else { + orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag); + } + } + + /* baro */ + { + struct baro_report baro; + memset(&baro, 0, sizeof(baro)); + + baro.timestamp = timestamp; + baro.pressure = imu.abs_pressure; + baro.altitude = imu.pressure_alt; + baro.temperature = imu.temperature; + + if (_baro_pub < 0) { + _baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro); + + } else { + orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro); + } + } + + /* sensor combined */ + { + struct sensor_combined_s hil_sensors; + memset(&hil_sensors, 0, sizeof(hil_sensors)); + + hil_sensors.timestamp = timestamp; + + hil_sensors.gyro_raw[0] = imu.xgyro * 1000.0f; + hil_sensors.gyro_raw[1] = imu.ygyro * 1000.0f; + hil_sensors.gyro_raw[2] = imu.zgyro * 1000.0f; + hil_sensors.gyro_rad_s[0] = imu.xgyro; + hil_sensors.gyro_rad_s[1] = imu.ygyro; + hil_sensors.gyro_rad_s[2] = imu.zgyro; + + hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2; + hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2; + hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2; + hil_sensors.accelerometer_m_s2[0] = imu.xacc; + hil_sensors.accelerometer_m_s2[1] = imu.yacc; + hil_sensors.accelerometer_m_s2[2] = imu.zacc; + hil_sensors.accelerometer_mode = 0; // TODO what is this? + hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 + hil_sensors.accelerometer_timestamp = timestamp; + + hil_sensors.adc_voltage_v[0] = 0.0f; + hil_sensors.adc_voltage_v[1] = 0.0f; + hil_sensors.adc_voltage_v[2] = 0.0f; + + hil_sensors.magnetometer_raw[0] = imu.xmag * 1000.0f; + hil_sensors.magnetometer_raw[1] = imu.ymag * 1000.0f; + hil_sensors.magnetometer_raw[2] = imu.zmag * 1000.0f; + hil_sensors.magnetometer_ga[0] = imu.xmag; + hil_sensors.magnetometer_ga[1] = imu.ymag; + hil_sensors.magnetometer_ga[2] = imu.zmag; + hil_sensors.magnetometer_range_ga = 32.7f; // int16 + hil_sensors.magnetometer_mode = 0; // TODO what is this + hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; + hil_sensors.magnetometer_timestamp = timestamp; + + hil_sensors.baro_pres_mbar = imu.abs_pressure; + hil_sensors.baro_alt_meter = imu.pressure_alt; + hil_sensors.baro_temp_celcius = imu.temperature; + hil_sensors.baro_timestamp = timestamp; + + hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa + hil_sensors.differential_pressure_timestamp = timestamp; + + /* publish combined sensor topic */ + if (_sensors_pub < 0) { + _sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); + + } else { + orb_publish(ORB_ID(sensor_combined), _sensors_pub, &hil_sensors); + } + } + + /* battery status */ + { + struct battery_status_s hil_battery_status; + memset(&hil_battery_status, 0, sizeof(hil_battery_status)); + + hil_battery_status.timestamp = timestamp; + hil_battery_status.voltage_v = 11.1f; + hil_battery_status.voltage_filtered_v = 11.1f; + hil_battery_status.current_a = 10.0f; + hil_battery_status.discharged_mah = -1.0f; + + if (_battery_pub < 0) { + _battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); + + } else { + orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status); + } + } + + /* increment counters */ + _hil_frames++; + + /* print HIL sensors rate */ + if ((timestamp - _old_timestamp) > 10000000) { + printf("receiving HIL sensors at %d hz\n", _hil_frames / 10); + _old_timestamp = timestamp; + _hil_frames = 0; + } +} + +void +MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) +{ + mavlink_hil_gps_t gps; + mavlink_msg_hil_gps_decode(msg, &gps); + + uint64_t timestamp = hrt_absolute_time(); + + struct vehicle_gps_position_s hil_gps; + memset(&hil_gps, 0, sizeof(hil_gps)); + + hil_gps.timestamp_time = timestamp; + hil_gps.time_gps_usec = gps.time_usec; + + hil_gps.timestamp_position = timestamp; + hil_gps.lat = gps.lat; + hil_gps.lon = gps.lon; + hil_gps.alt = gps.alt; + hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m + hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m + + hil_gps.timestamp_variance = timestamp; + hil_gps.s_variance_m_s = 5.0f; + hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m; + + hil_gps.timestamp_velocity = timestamp; + hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s + hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m + hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m + hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m + hil_gps.vel_ned_valid = true; + hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f); + + hil_gps.timestamp_satellites = timestamp; + hil_gps.fix_type = gps.fix_type; + hil_gps.satellites_visible = gps.satellites_visible; + + if (_gps_pub < 0) { + _gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); + + } else { + orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &hil_gps); + } +} + +void +MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) +{ + mavlink_hil_state_quaternion_t hil_state; + mavlink_msg_hil_state_quaternion_decode(msg, &hil_state); + + uint64_t timestamp = hrt_absolute_time(); + + /* airspeed */ + { + struct airspeed_s airspeed; + memset(&airspeed, 0, sizeof(airspeed)); + + airspeed.timestamp = timestamp; + airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f; + airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f; + + if (_airspeed_pub < 0) { + _airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed); + + } else { + orb_publish(ORB_ID(airspeed), _airspeed_pub, &airspeed); + } + } + + /* attitude */ + struct vehicle_attitude_s hil_attitude; + { + memset(&hil_attitude, 0, sizeof(hil_attitude)); + math::Quaternion q(hil_state.attitude_quaternion); + math::Matrix<3, 3> C_nb = q.to_dcm(); + math::Vector<3> euler = C_nb.to_euler(); + + hil_attitude.timestamp = timestamp; + memcpy(hil_attitude.R, C_nb.data, sizeof(hil_attitude.R)); + hil_attitude.R_valid = true; + + hil_attitude.q[0] = q(0); + hil_attitude.q[1] = q(1); + hil_attitude.q[2] = q(2); + hil_attitude.q[3] = q(3); + hil_attitude.q_valid = true; + + hil_attitude.roll = euler(0); + hil_attitude.pitch = euler(1); + hil_attitude.yaw = euler(2); + hil_attitude.rollspeed = hil_state.rollspeed; + hil_attitude.pitchspeed = hil_state.pitchspeed; + hil_attitude.yawspeed = hil_state.yawspeed; + + if (_attitude_pub < 0) { + _attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); + + } else { + orb_publish(ORB_ID(vehicle_attitude), _attitude_pub, &hil_attitude); + } + } + + /* global position */ + { + struct vehicle_global_position_s hil_global_pos; + memset(&hil_global_pos, 0, sizeof(hil_global_pos)); + + hil_global_pos.timestamp = timestamp; + 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.vel_n = hil_state.vx / 100.0f; + hil_global_pos.vel_e = hil_state.vy / 100.0f; + hil_global_pos.vel_d = hil_state.vz / 100.0f; + hil_global_pos.yaw = hil_attitude.yaw; + hil_global_pos.eph = 2.0f; + hil_global_pos.epv = 4.0f; + + if (_global_pos_pub < 0) { + _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); + + } else { + orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos); + } + } + + /* local position */ + { + double lat = hil_state.lat * 1e-7; + double lon = hil_state.lon * 1e-7; + + if (!_hil_local_proj_inited) { + _hil_local_proj_inited = true; + _hil_local_alt0 = hil_state.alt / 1000.0f; + map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon); + hil_local_pos.ref_timestamp = timestamp; + hil_local_pos.ref_lat = lat; + hil_local_pos.ref_lon = lon; + hil_local_pos.ref_alt = _hil_local_alt0; + } + + float x; + float y; + map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y); + hil_local_pos.timestamp = timestamp; + hil_local_pos.xy_valid = true; + hil_local_pos.z_valid = true; + hil_local_pos.v_xy_valid = true; + hil_local_pos.v_z_valid = true; + hil_local_pos.x = x; + hil_local_pos.y = y; + hil_local_pos.z = _hil_local_alt0 - hil_state.alt / 1000.0f; + hil_local_pos.vx = hil_state.vx / 100.0f; + hil_local_pos.vy = hil_state.vy / 100.0f; + hil_local_pos.vz = hil_state.vz / 100.0f; + hil_local_pos.yaw = hil_attitude.yaw; + hil_local_pos.xy_global = true; + hil_local_pos.z_global = true; + + bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve? + hil_local_pos.landed = landed; + + if (_local_pos_pub < 0) { + _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos); + + } else { + orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos); + } + } + + /* accelerometer */ + { + struct accel_report accel; + memset(&accel, 0, sizeof(accel)); + + accel.timestamp = timestamp; + accel.x_raw = hil_state.xacc / CONSTANTS_ONE_G * 1e3f; + accel.y_raw = hil_state.yacc / CONSTANTS_ONE_G * 1e3f; + accel.z_raw = hil_state.zacc / CONSTANTS_ONE_G * 1e3f; + accel.x = hil_state.xacc; + accel.y = hil_state.yacc; + accel.z = hil_state.zacc; + accel.temperature = 25.0f; + + if (_accel_pub < 0) { + _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); + + } else { + orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); + } + } + + /* battery status */ + { + struct battery_status_s hil_battery_status; + memset(&hil_battery_status, 0, sizeof(hil_battery_status)); + + hil_battery_status.timestamp = timestamp; + hil_battery_status.voltage_v = 11.1f; + hil_battery_status.voltage_filtered_v = 11.1f; + hil_battery_status.current_a = 10.0f; + hil_battery_status.discharged_mah = -1.0f; + + if (_battery_pub < 0) { + _battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); + + } else { + orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status); } } } @@ -810,17 +866,20 @@ handle_message(mavlink_message_t *msg) /** * Receive data from UART. */ -static void * -receive_thread(void *arg) +void * +MavlinkReceiver::receive_thread(void *arg) { - int uart_fd = *((int *)arg); + int uart_fd = _mavlink->get_uart_fd(); - const int timeout = 1000; + const int timeout = 500; uint8_t buf[32]; mavlink_message_t msg; - prctl(PR_SET_NAME, "mavlink_uart_rcv", getpid()); + /* set thread name */ + char thread_name[24]; + sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id()); + prctl(PR_SET_NAME, thread_name, getpid()); struct pollfd fds[1]; fds[0].fd = uart_fd; @@ -828,27 +887,31 @@ receive_thread(void *arg) ssize_t nread = 0; - while (!thread_should_exit) { + while (!_mavlink->_task_should_exit) { if (poll(fds, 1, timeout) > 0) { - if (nread < sizeof(buf)) { + + /* non-blocking read. read may return negative values */ + if ((nread = read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) { /* to avoid reading very small chunks wait for data before reading */ usleep(1000); } - /* non-blocking read. read may return negative values */ - nread = read(uart_fd, buf, sizeof(buf)); - /* if read failed, this loop won't execute */ for (ssize_t i = 0; i < nread; i++) { - if (mavlink_parse_char(chan, buf[i], &msg, &status)) { + if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &status)) { /* handle generic messages and commands */ handle_message(&msg); /* handle packet with waypoint component */ - mavlink_wpm_message_handler(&msg); + _mavlink->mavlink_wpm_message_handler(&msg); /* handle packet with parameter component */ - mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); + _mavlink->mavlink_pm_message_handler(_mavlink->get_channel(), &msg); + + if (_mavlink->get_forwarding_on()) { + /* forward any messages to other mavlink instances */ + Mavlink::forward_message(&msg, _mavlink); + } } } } @@ -857,25 +920,39 @@ receive_thread(void *arg) return NULL; } +void MavlinkReceiver::print_status() +{ + +} + +void *MavlinkReceiver::start_helper(void *context) +{ + MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context); + + rcv->receive_thread(NULL); + + delete rcv; +} + pthread_t -receive_start(int uart) +MavlinkReceiver::receive_start(Mavlink *parent) { pthread_attr_t receiveloop_attr; pthread_attr_init(&receiveloop_attr); // set to non-blocking read - int flags = fcntl(uart, F_GETFL, 0); - fcntl(uart, F_SETFL, flags | O_NONBLOCK); + int flags = fcntl(parent->get_uart_fd(), F_GETFL, 0); + fcntl(parent->get_uart_fd(), F_SETFL, flags | O_NONBLOCK); struct sched_param param; (void)pthread_attr_getschedparam(&receiveloop_attr, ¶m); param.sched_priority = SCHED_PRIORITY_MAX - 40; (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - pthread_attr_setstacksize(&receiveloop_attr, 3000); + pthread_attr_setstacksize(&receiveloop_attr, 2900); pthread_t thread; - pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); + pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent); pthread_attr_destroy(&receiveloop_attr); return thread; diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/mavlink_receiver.h similarity index 56% rename from src/modules/mavlink/orb_topics.h rename to src/modules/mavlink/mavlink_receiver.h index 89f647bdc8..9ab84b58a3 100644 --- a/src/modules/mavlink/orb_topics.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,12 +32,15 @@ ****************************************************************************/ /** - * @file orb_topics.h - * Common sets of topics subscribed to or published by the MAVLink driver, - * and structures maintained by those subscriptions. + * @file mavlink_orb_listener.h + * MAVLink 1.0 uORB listener definition + * + * @author Lorenz Meier */ + #pragma once +#include #include #include #include @@ -55,7 +57,6 @@ #include #include #include -#include #include #include #include @@ -66,59 +67,80 @@ #include #include #include -#include -#include -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 safety_sub; - int actuators_sub; - int armed_sub; - int actuators_effective_sub; - int local_pos_sub; - int spa_sub; - int spl_sub; - int triplet_sub; - int debug_key_value; - int input_rc_sub; - int optical_flow; - int rates_setpoint_sub; - int home_sub; - int airspeed_sub; - int navigation_capabilities_sub; - int position_setpoint_triplet_sub; +class Mavlink; + +class MavlinkReceiver +{ +public: + /** + * Constructor + */ + MavlinkReceiver(Mavlink *parent); + + /** + * Destructor, also kills the mavlinks task. + */ + ~MavlinkReceiver(); + + /** + * Start the mavlink task. + * + * @return OK on success. + */ + int start(); + + /** + * Display the mavlink status. + */ + void print_status(); + + static pthread_t receive_start(Mavlink *parent); + + static void *start_helper(void *context); + +private: + perf_counter_t _loop_perf; /**< loop performance counter */ + + Mavlink *_mavlink; + + void handle_message(mavlink_message_t *msg); + void handle_message_command_long(mavlink_message_t *msg); + void handle_message_optical_flow(mavlink_message_t *msg); + void handle_message_set_mode(mavlink_message_t *msg); + void handle_message_vicon_position_estimate(mavlink_message_t *msg); + void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg); + void handle_message_radio_status(mavlink_message_t *msg); + void handle_message_manual_control(mavlink_message_t *msg); + void handle_message_hil_sensor(mavlink_message_t *msg); + void handle_message_hil_gps(mavlink_message_t *msg); + void handle_message_hil_state_quaternion(mavlink_message_t *msg); + + void *receive_thread(void *arg); + + mavlink_status_t status; + struct vehicle_local_position_s hil_local_pos; + orb_advert_t _global_pos_pub; + orb_advert_t _local_pos_pub; + orb_advert_t _attitude_pub; + orb_advert_t _gps_pub; + orb_advert_t _sensors_pub; + orb_advert_t _gyro_pub; + orb_advert_t _accel_pub; + orb_advert_t _mag_pub; + orb_advert_t _baro_pub; + orb_advert_t _airspeed_pub; + orb_advert_t _battery_pub; + orb_advert_t _cmd_pub; + orb_advert_t _flow_pub; + orb_advert_t _offboard_control_sp_pub; + orb_advert_t _vicon_position_pub; + orb_advert_t _telemetry_status_pub; + orb_advert_t _rc_pub; + orb_advert_t _manual_pub; + int _hil_frames; + uint64_t _old_timestamp; + bool _hil_local_proj_inited; + float _hil_local_alt0; + struct map_projection_reference_s _hil_local_proj_ref; }; - -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; - -/** navigation capabilities */ -extern struct navigation_capabilities_s nav_cap; - -/** Vehicle status */ -extern struct vehicle_status_s v_status; - -/** Position setpoint triplet */ -extern struct position_setpoint_triplet_s pos_sp_triplet; - -/** 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); diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp new file mode 100644 index 0000000000..bb19d7e336 --- /dev/null +++ b/src/modules/mavlink/mavlink_stream.cpp @@ -0,0 +1,85 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * 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_stream.cpp + * Mavlink messages stream implementation. + * + * @author Anton Babushkin + */ + +#include + +#include "mavlink_stream.h" +#include "mavlink_main.h" + +MavlinkStream::MavlinkStream() : _interval(1000000), _last_sent(0), _channel(MAVLINK_COMM_0), next(nullptr) +{ +} + +MavlinkStream::~MavlinkStream() +{ +} + +/** + * Set messages interval in ms + */ +void +MavlinkStream::set_interval(const unsigned int interval) +{ + _interval = interval; +} + +/** + * Set mavlink channel + */ +void +MavlinkStream::set_channel(mavlink_channel_t channel) +{ + _channel = channel; +} + +/** + * Update subscriptions and send message if necessary + */ +int +MavlinkStream::update(const hrt_abstime t) +{ + uint64_t dt = t - _last_sent; + + if (dt > 0 && dt >= _interval) { + /* interval expired, send message */ + send(t); + _last_sent = (t / _interval) * _interval; + } +} diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.h b/src/modules/mavlink/mavlink_stream.h old mode 100755 new mode 100644 similarity index 66% rename from src/modules/position_estimator_mc/position_estimator_mc_params.h rename to src/modules/mavlink/mavlink_stream.h index c4c95f7b47..def40d9adc --- a/src/modules/position_estimator_mc/position_estimator_mc_params.h +++ b/src/modules/mavlink/mavlink_stream.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Damian Aregger - * Tobias Naegeli - * Lorenz Meier + * Copyright (c) 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,36 +31,46 @@ * ****************************************************************************/ -/* - * @file position_estimator_mc_params.h - * - * Parameters for Position Estimator +/** + * @file mavlink_stream.h + * Mavlink messages stream definition. + * + * @author Anton Babushkin */ -#include +#ifndef MAVLINK_STREAM_H_ +#define MAVLINK_STREAM_H_ -struct position_estimator_mc_params { - float addNoise; - float sigma; - float R; - int baro; /* consider barometer */ +#include + +class Mavlink; +class MavlinkStream; + +#include "mavlink_main.h" + +class MavlinkStream +{ +private: + hrt_abstime _last_sent; + +protected: + mavlink_channel_t _channel; + unsigned int _interval; + + virtual void send(const hrt_abstime t) = 0; + +public: + MavlinkStream *next; + + MavlinkStream(); + ~MavlinkStream(); + void set_interval(const unsigned int interval); + void set_channel(mavlink_channel_t channel); + int update(const hrt_abstime t); + virtual MavlinkStream *new_instance() = 0; + virtual void subscribe(Mavlink *mavlink) = 0; + virtual const char *get_name() = 0; }; -struct position_estimator_mc_param_handles { - param_t addNoise; - param_t sigma; - param_t r; - param_t baro_param_handle; -}; -/** - * Initialize all parameter handles and values - * - */ -int parameters_init(struct position_estimator_mc_param_handles *h); - -/** - * Update all parameters - * - */ -int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p); +#endif /* MAVLINK_STREAM_H_ */ diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index 89a097c245..f532e26fea 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -36,10 +36,17 @@ # MODULE_COMMAND = mavlink -SRCS += mavlink.c \ - mavlink_parameters.c \ - mavlink_receiver.cpp \ - orb_listener.c \ - waypoints.c +SRCS += mavlink_main.cpp \ + mavlink.c \ + mavlink_receiver.cpp \ + mavlink_orb_subscription.cpp \ + mavlink_messages.cpp \ + mavlink_stream.cpp \ + mavlink_rate_limiter.cpp \ + mavlink_commands.cpp INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink + +MAXOPTIMIZATION = -Os + +MODULE_STACKSIZE = 1024 diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c deleted file mode 100644 index d7243c6232..0000000000 --- a/src/modules/mavlink/orb_listener.c +++ /dev/null @@ -1,848 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * 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. - * - * @author Lorenz Meier - */ - -// XXX trim includes -#include -#include -#include -#include -#include -#include -#include "mavlink_bridge_header.h" -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "waypoints.h" -#include "orb_topics.h" -#include "mavlink_hil.h" -#include "util.h" - -extern bool gcs_link; - -struct vehicle_global_position_s global_pos; -struct vehicle_local_position_s local_pos; -struct home_position_s home; -struct navigation_capabilities_s nav_cap; -struct vehicle_status_s v_status; -struct position_setpoint_triplet_s pos_sp_triplet; -struct rc_channels_s rc; -struct rc_input_values rc_raw; -struct actuator_armed_s armed; -struct actuator_controls_s actuators_0; -struct vehicle_attitude_s att; -struct airspeed_s airspeed; - -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 hrt_abstime last_sent_vfr = 0; - -static void *uorb_receive_thread(void *arg); - -struct listener { - void (*callback)(const struct listener *l); - int *subp; - uintptr_t arg; -}; - -uint16_t cm_uint16_from_m_float(float m); - -static void l_sensor_combined(const struct listener *l); -static void l_vehicle_attitude(const struct listener *l); -static void l_vehicle_gps_position(const struct listener *l); -static void l_vehicle_status(const struct listener *l); -static void l_rc_channels(const struct listener *l); -static void l_input_rc(const struct listener *l); -static void l_global_position(const struct listener *l); -static void l_local_position(const struct listener *l); -static void l_global_position_setpoint(const struct listener *l); -static void l_local_position_setpoint(const struct listener *l); -static void l_attitude_setpoint(const struct listener *l); -static void l_actuator_outputs(const struct listener *l); -static void l_actuator_armed(const struct listener *l); -static void l_manual_control_setpoint(const struct listener *l); -static void l_vehicle_attitude_controls(const struct listener *l); -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 void l_nav_cap(const struct listener *l); - -static const 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_input_rc, &mavlink_subs.input_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.triplet_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}, - {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}, - {l_nav_cap, &mavlink_subs.navigation_capabilities_sub, 0}, -}; - -static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]); - -uint16_t -cm_uint16_from_m_float(float m) -{ - if (m < 0.0f) { - return 0; - - } else if (m > 655.35f) { - return 65535; - } - - return (uint16_t)(m * 100.0f); -} - -void -l_sensor_combined(const 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; - - /* 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 second group dimensions as changed */ - fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); - gyro_counter = raw.gyro_counter; - } - - if (mag_counter != raw.magnetometer_counter) { - /* mark third group dimensions as changed */ - fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); - mag_counter = raw.magnetometer_counter; - } - - if (baro_counter != raw.baro_counter) { - /* mark last group dimensions as changed */ - fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); - baro_counter = raw.baro_counter; - } - - if (gcs_link) - 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, raw.differential_pressure_pa, - raw.baro_alt_meter, raw.baro_temp_celcius, - fields_updated); - - sensors_raw_counter++; -} - -void -l_vehicle_attitude(const struct listener *l) -{ - /* copy attitude data into local buffer */ - orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att); - - if (gcs_link) { - /* 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); - - /* limit VFR message rate to 10Hz */ - hrt_abstime t = hrt_absolute_time(); - if (t >= last_sent_vfr + 100000) { - last_sent_vfr = t; - float groundspeed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e); - uint16_t heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F; - float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f; - mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vel_d); - } - - /* send quaternion values if it exists */ - if(att.q_valid) { - mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - att.q[0], - att.q[1], - att.q[2], - att.q[3], - att.rollspeed, - att.pitchspeed, - att.yawspeed); - } - } - - attitude_counter++; -} - -void -l_vehicle_gps_position(const 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 COG is 0..2PI in degrees * 1e2 */ - float cog_deg = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F; - - /* GPS position */ - mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, - gps.timestamp_position, - gps.fix_type, - gps.lat, - gps.lon, - gps.alt, - cm_uint16_from_m_float(gps.eph_m), - cm_uint16_from_m_float(gps.epv_m), - gps.vel_m_s * 1e2f, // from m/s to cm/s - cog_deg * 1e2f, // from deg to deg * 100 - gps.satellites_visible); - - /* update SAT info every 10 seconds */ - if (gps.satellite_info_available && (gps_counter % 50 == 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(const 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); - orb_copy(ORB_ID(position_setpoint_triplet), mavlink_subs.position_setpoint_triplet_sub, &pos_sp_triplet); - - /* enable or disable HIL */ - if (v_status.hil_state == HIL_STATE_ON) - set_hil_on_off(true); - else if (v_status.hil_state == HIL_STATE_OFF) - set_hil_on_off(false); - - /* translate the current syste state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_base_mode = 0; - uint32_t mavlink_custom_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - - /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, - mavlink_system.type, - MAV_AUTOPILOT_PX4, - mavlink_base_mode, - mavlink_custom_mode, - mavlink_state); -} - -void -l_rc_channels(const struct listener *l) -{ - /* copy rc channels into local buffer */ - orb_copy(ORB_ID(rc_channels), rc_sub, &rc); - // XXX Add RC channels scaled message here -} - -void -l_input_rc(const struct listener *l) -{ - /* copy rc channels into local buffer */ - orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw); - - if (gcs_link) { - - const unsigned port_width = 8; - - for (unsigned i = 0; (i * port_width) < rc_raw.channel_count; i++) { - /* Channels are sent in MAVLink main loop at a fixed interval */ - mavlink_msg_rc_channels_raw_send(chan, - rc_raw.timestamp_publication / 1000, - i, - (rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 2) ? rc_raw.values[(i * port_width) + 2] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 3) ? rc_raw.values[(i * port_width) + 3] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 4) ? rc_raw.values[(i * port_width) + 4] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 5) ? rc_raw.values[(i * port_width) + 5] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 6) ? rc_raw.values[(i * port_width) + 6] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 7) ? rc_raw.values[(i * port_width) + 7] : UINT16_MAX, - rc_raw.rssi); - } - } -} - -void -l_global_position(const struct listener *l) -{ - /* copy global position data into local buffer */ - orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos); - - mavlink_msg_global_position_int_send(MAVLINK_COMM_0, - global_pos.timestamp / 1000, - global_pos.lat * 1e7, - global_pos.lon * 1e7, - global_pos.alt * 1000.0f, - (global_pos.alt - home.alt) * 1000.0f, - global_pos.vel_n * 100.0f, - global_pos.vel_e * 100.0f, - global_pos.vel_d * 100.0f, - _wrap_2pi(global_pos.yaw) * M_RAD_TO_DEG_F * 100.0f); -} - -void -l_local_position(const struct listener *l) -{ - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos); - - if (gcs_link) - 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(const struct listener *l) -{ - struct position_setpoint_triplet_s triplet; - orb_copy(ORB_ID(position_setpoint_triplet), mavlink_subs.triplet_sub, &triplet); - - if (!triplet.current.valid) - return; - - if (gcs_link) - mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0, - MAV_FRAME_GLOBAL, - (int32_t)(triplet.current.lat * 1e7d), - (int32_t)(triplet.current.lon * 1e7d), - (int32_t)(triplet.current.alt * 1e3f), - (int16_t)(triplet.current.yaw * M_RAD_TO_DEG_F * 1e2f)); -} - -void -l_local_position_setpoint(const 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); - - if (gcs_link) - 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(const 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); - - if (gcs_link) - 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_vehicle_rates_setpoint(const struct listener *l) -{ - struct vehicle_rates_setpoint_s rates_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_rates_setpoint), mavlink_subs.rates_setpoint_sub, &rates_sp); - - if (gcs_link) - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_0, - rates_sp.timestamp / 1000, - rates_sp.roll, - rates_sp.pitch, - rates_sp.yaw, - rates_sp.thrust); -} - -void -l_actuator_outputs(const 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); - - if (gcs_link) { - mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - l->arg /* port number - needs GCS support */, - /* QGC has port number support already */ - 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]); - - /* only send in HIL mode and only send first group for HIL */ - if (mavlink_hil_enabled && armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) { - - /* translate the current syste state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_base_mode = 0; - uint32_t mavlink_custom_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - - /* HIL message as per MAVLink spec */ - - /* scale / assign outputs depending on system type */ - - if (mavlink_system.type == MAV_TYPE_QUADROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - -1, - -1, - -1, - -1, - mavlink_base_mode, - 0); - - } else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, - -1, - -1, - mavlink_base_mode, - 0); - - } else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f, - mavlink_base_mode, - 0); - - } else { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - (act_outputs.output[0] - 1500.0f) / 500.0f, - (act_outputs.output[1] - 1500.0f) / 500.0f, - (act_outputs.output[2] - 1500.0f) / 500.0f, - (act_outputs.output[3] - 1000.0f) / 1000.0f, - (act_outputs.output[4] - 1500.0f) / 500.0f, - (act_outputs.output[5] - 1500.0f) / 500.0f, - (act_outputs.output[6] - 1500.0f) / 500.0f, - (act_outputs.output[7] - 1500.0f) / 500.0f, - mavlink_base_mode, - 0); - } - } - } -} - -void -l_actuator_armed(const struct listener *l) -{ - orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); -} - -void -l_manual_control_setpoint(const 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); - - if (gcs_link) - 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(const struct listener *l) -{ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, 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, - "ctrl0 ", - actuators_0.control[0]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl1 ", - actuators_0.control[1]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl2 ", - actuators_0.control[2]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl3 ", - actuators_0.control[3]); - } -} - -void -l_debug_key_value(const 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); -} - -void -l_optical_flow(const struct listener *l) -{ - struct optical_flow_s flow; - - orb_copy(ORB_ID(optical_flow), mavlink_subs.optical_flow, &flow); - - mavlink_msg_optical_flow_send(MAVLINK_COMM_0, flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y, - flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m); -} - -void -l_home(const struct listener *l) -{ - orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home); - - mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, (int32_t)(home.lat*1e7d), (int32_t)(home.lon*1e7d), (int32_t)(home.alt)*1e3f); -} - -void -l_airspeed(const struct listener *l) -{ - orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed); -} - -void -l_nav_cap(const struct listener *l) -{ - - orb_copy(ORB_ID(navigation_capabilities), mavlink_subs.navigation_capabilities_sub, &nav_cap); - - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - hrt_absolute_time() / 1000, - "turn dist", - nav_cap.turn_distance); - -} - -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; - fds[i].events = POLLIN; - - /* 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) { - /* silent */ - - } 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, 200); /* 5Hz 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, 200); /* 5Hz updates */ - - /* --- GPS VALUE --- */ - mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */ - - /* --- HOME POSITION --- */ - mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position)); - orb_set_interval(mavlink_subs.home_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 */ - - /* --- POSITION SETPOINT TRIPLET --- */ - mavlink_subs.position_setpoint_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); - orb_set_interval(mavlink_subs.position_setpoint_triplet_sub, 0); /* not polled, don't limit */ - - /* --- RC CHANNELS VALUE --- */ - rc_sub = orb_subscribe(ORB_ID(rc_channels)); - orb_set_interval(rc_sub, 100); /* 10Hz updates */ - - /* --- RC RAW VALUE --- */ - mavlink_subs.input_rc_sub = orb_subscribe(ORB_ID(input_rc)); - orb_set_interval(mavlink_subs.input_rc_sub, 100); - - /* --- GLOBAL POS VALUE --- */ - mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - orb_set_interval(mavlink_subs.global_pos_sub, 100); /* 10 Hz 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.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); - orb_set_interval(mavlink_subs.triplet_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 */ - - /* --- RATES SETPOINT VALUE --- */ - mavlink_subs.rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - orb_set_interval(mavlink_subs.rates_setpoint_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 */ - - /* --- FLOW SENSOR --- */ - mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow)); - orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */ - - /* --- AIRSPEED --- */ - mavlink_subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); - orb_set_interval(mavlink_subs.airspeed_sub, 200); /* 5Hz updates */ - - /* --- NAVIGATION CAPABILITIES --- */ - mavlink_subs.navigation_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); - orb_set_interval(mavlink_subs.navigation_capabilities_sub, 500); /* 2Hz updates */ - nav_cap.turn_distance = 0.0f; - - /* start the listener loop */ - pthread_attr_t uorb_attr; - pthread_attr_init(&uorb_attr); - - /* Set stack size, needs less than 2k */ - pthread_attr_setstacksize(&uorb_attr, 2048); - - pthread_t thread; - pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL); - - pthread_attr_destroy(&uorb_attr); - return thread; -} diff --git a/src/modules/mavlink/util.h b/src/modules/mavlink/util.h index 5e5ee8261c..5ca9a085d5 100644 --- a/src/modules/mavlink/util.h +++ b/src/modules/mavlink/util.h @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c deleted file mode 100644 index 168666d4e1..0000000000 --- a/src/modules/mavlink/waypoints.c +++ /dev/null @@ -1,730 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: @author Petri Tanskanen - * @author Lorenz Meier - * @author Thomas Gubler - * @author Julian Oes - * - * 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 waypoints.c - * MAVLink waypoint protocol implementation (BSD-relicensed). - */ - -#include -#include -#include -#include -#include "mavlink_bridge_header.h" -#include "waypoints.h" -#include "util.h" -#include -#include -#include -#include -#include -#include - -bool verbose = true; - -orb_advert_t mission_pub = -1; -struct mission_s mission; - -uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; - -void -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); -} - - - -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); - mavlink_missionlib_send_message(&msg); - return OK; - - } else { - return 1; - } -} - -void publish_mission() -{ - /* Initialize mission publication if necessary */ - if (mission_pub < 0) { - mission_pub = orb_advertise(ORB_ID(mission), &mission); - - } else { - orb_publish(ORB_ID(mission), mission_pub, &mission); - } -} - -int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item) -{ - /* only support global waypoints for now */ - switch (mavlink_mission_item->frame) { - case MAV_FRAME_GLOBAL: - mission_item->lat = (double)mavlink_mission_item->x; - mission_item->lon = (double)mavlink_mission_item->y; - mission_item->altitude = mavlink_mission_item->z; - mission_item->altitude_is_relative = false; - break; - - case MAV_FRAME_GLOBAL_RELATIVE_ALT: - mission_item->lat = (double)mavlink_mission_item->x; - mission_item->lon = (double)mavlink_mission_item->y; - mission_item->altitude = mavlink_mission_item->z; - mission_item->altitude_is_relative = true; - break; - - case MAV_FRAME_LOCAL_NED: - case MAV_FRAME_LOCAL_ENU: - return MAV_MISSION_UNSUPPORTED_FRAME; - case MAV_FRAME_MISSION: - default: - return MAV_MISSION_ERROR; - } - - switch (mavlink_mission_item->command) { - case MAV_CMD_NAV_TAKEOFF: - mission_item->pitch_min = mavlink_mission_item->param2; - break; - default: - mission_item->acceptance_radius = mavlink_mission_item->param2; - break; - } - - mission_item->yaw = _wrap_pi(mavlink_mission_item->param4*M_DEG_TO_RAD_F); - mission_item->loiter_radius = fabsf(mavlink_mission_item->param3); - mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ - mission_item->nav_cmd = mavlink_mission_item->command; - - mission_item->time_inside = mavlink_mission_item->param1; - mission_item->autocontinue = mavlink_mission_item->autocontinue; - // mission_item->index = mavlink_mission_item->seq; - mission_item->origin = ORIGIN_MAVLINK; - - return OK; -} - -int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) -{ - if (mission_item->altitude_is_relative) { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL; - } else { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; - } - - switch (mission_item->nav_cmd) { - case NAV_CMD_TAKEOFF: - mavlink_mission_item->param2 = mission_item->pitch_min; - break; - default: - mavlink_mission_item->param2 = mission_item->acceptance_radius; - break; - } - - mavlink_mission_item->x = (float)mission_item->lat; - mavlink_mission_item->y = (float)mission_item->lon; - mavlink_mission_item->z = mission_item->altitude; - - mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F; - mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction; - mavlink_mission_item->command = mission_item->nav_cmd; - mavlink_mission_item->param1 = mission_item->time_inside; - mavlink_mission_item->autocontinue = mission_item->autocontinue; - // mavlink_mission_item->seq = mission_item->index; - - return OK; -} - -void mavlink_wpm_init(mavlink_wpm_storage *state) -{ - state->size = 0; - state->max_size = MAVLINK_WPM_MAX_WP_COUNT; - state->current_state = MAVLINK_WPM_STATE_IDLE; - state->current_partner_sysid = 0; - state->current_partner_compid = 0; - state->timestamp_lastaction = 0; - state->timestamp_last_send_setpoint = 0; - state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; - state->current_dataman_id = 0; -} - -/* - * @brief Sends an waypoint ack message - */ -void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) -{ - mavlink_message_t msg; - mavlink_mission_ack_t wpa; - - wpa.target_system = sysid; - wpa.target_component = compid; - wpa.type = type; - - mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); -} - -/* - * @brief Broadcasts the new target waypoint and directs the MAV to fly there - * - * This function broadcasts its new active waypoint sequence number and - * sends a message to the controller, advising it to fly to the coordinates - * of the waypoint with a given orientation - * - * @param seq The waypoint sequence number the MAV should fly to. - */ -void mavlink_wpm_send_waypoint_current(uint16_t seq) -{ - if (seq < wpm->size) { - mavlink_message_t msg; - mavlink_mission_current_t wpc; - - wpc.seq = seq; - - mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Broadcasted new current waypoint %u", wpc.seq); - - } else { - mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds"); - if (verbose) warnx("ERROR: index out of bounds"); - } -} - -void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count) -{ - mavlink_message_t msg; - mavlink_mission_count_t wpc; - - wpc.target_system = sysid; - wpc.target_component = compid; - wpc.count = mission.count; - - mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); -} - -void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) -{ - - struct mission_item_s mission_item; - ssize_t len = sizeof(struct mission_item_s); - - dm_item_t dm_current; - - if (wpm->current_dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; - } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; - } - - if (dm_read(dm_current, seq, &mission_item, len) == len) { - - /* create mission_item_s from mavlink_mission_item_t */ - mavlink_mission_item_t wp; - map_mission_item_to_mavlink_mission_item(&mission_item, &wp); - - mavlink_message_t msg; - wp.target_system = sysid; - wp.target_component = compid; - wp.seq = seq; - mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); - } else { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); - if (verbose) warnx("ERROR: could not read WP%u", seq); - } -} - -void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) -{ - if (seq < wpm->max_size) { - mavlink_message_t msg; - mavlink_mission_request_t wpr; - wpr.target_system = sysid; - wpr.target_component = compid; - wpr.seq = seq; - mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); - - } else { - mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity"); - if (verbose) warnx("ERROR: Waypoint index exceeds list capacity"); - } -} - -/* - * @brief emits a message that a waypoint reached - * - * This function broadcasts a message that a waypoint is reached. - * - * @param seq The waypoint sequence number the MAV has reached. - */ -void mavlink_wpm_send_waypoint_reached(uint16_t seq) -{ - mavlink_message_t msg; - mavlink_mission_item_reached_t wp_reached; - - wp_reached.seq = seq; - - mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Sent waypoint %u reached message", wp_reached.seq); -} - - -void mavlink_waypoint_eventloop(uint64_t now) -{ - /* check for timed-out operations */ - if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - - mavlink_missionlib_send_gcs_string("Operation timeout"); - - if (verbose) warnx("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_state); - - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - wpm->current_partner_sysid = 0; - wpm->current_partner_compid = 0; - } -} - - -void mavlink_wpm_message_handler(const mavlink_message_t *msg) -{ - uint64_t now = hrt_absolute_time(); - - switch (msg->msgid) { - - case MAVLINK_MSG_ID_MISSION_ACK: { - mavlink_mission_ack_t wpa; - mavlink_msg_mission_ack_decode(msg, &wpa); - - if ((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - if (wpm->current_wp_id == wpm->size - 1) { - - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - wpm->current_wp_id = 0; - } - } - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); - if (verbose) warnx("REJ. WP CMD: curr partner id mismatch"); - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { - mavlink_mission_set_current_t wpc; - mavlink_msg_mission_set_current_decode(msg, &wpc); - - if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - if (wpc.seq < wpm->size) { - - mission.current_index = wpc.seq; - publish_mission(); - - mavlink_wpm_send_waypoint_current(wpc.seq); - - } else { - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); - if (verbose) warnx("IGN WP CURR CMD: Not in list"); - } - - } else { - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); - if (verbose) warnx("IGN WP CURR CMD: Busy"); - - } - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); - if (verbose) warnx("REJ. WP CMD: target id mismatch"); - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { - mavlink_mission_request_list_t wprl; - mavlink_msg_mission_request_list_decode(msg, &wprl); - - if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { - if (wpm->size > 0) { - - wpm->current_state = MAVLINK_WPM_STATE_SENDLIST; - wpm->current_wp_id = 0; - wpm->current_partner_sysid = msg->sysid; - wpm->current_partner_compid = msg->compid; - - } else { - if (verbose) warnx("No waypoints send"); - } - - wpm->current_count = wpm->size; - mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count); - - } else { - mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy"); - if (verbose) warnx("IGN REQUEST LIST: Busy"); - } - } else { - mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch"); - if (verbose) warnx("REJ. REQUEST LIST: target id mismatch"); - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST: { - mavlink_mission_request_t wpr; - mavlink_msg_mission_request_decode(msg, &wpr); - - if (msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - if (wpr.seq >= wpm->size) { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); - if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq); - break; - } - - /* - * Ensure that we are in the correct state and that the first request has id 0 - * and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) - */ - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { - - if (wpr.seq == 0) { - if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); - wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); - if (verbose) warnx("REJ. WP CMD: First id != 0"); - break; - } - - } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - - if (wpr.seq == wpm->current_wp_id) { - - if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); - - } else if (wpr.seq == wpm->current_wp_id + 1) { - - if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); - if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); - break; - } - - } else { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); - if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", wpm->current_state); - break; - } - - wpm->current_wp_id = wpr.seq; - wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - - if (wpr.seq < wpm->size) { - - mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid,wpm->current_wp_id); - - } else { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); - if (verbose) warnx("ERROR: Waypoint %u out of bounds", wpr.seq); - } - - - } else { - //we we're target but already communicating with someone else - if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid)) { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); - if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, wpm->current_partner_sysid); - - } else { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); - if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); - } - } - break; - } - - case MAVLINK_MSG_ID_MISSION_COUNT: { - mavlink_mission_count_t wpc; - mavlink_msg_mission_count_decode(msg, &wpc); - - if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - - if (wpc.count > NUM_MISSIONS_SUPPORTED) { - if (verbose) warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_NO_SPACE); - break; - } - - if (wpc.count == 0) { - mavlink_missionlib_send_gcs_string("COUNT 0"); - if (verbose) warnx("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE"); - break; - } - - if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); - - wpm->current_state = MAVLINK_WPM_STATE_GETLIST; - wpm->current_wp_id = 0; - wpm->current_partner_sysid = msg->sysid; - wpm->current_partner_compid = msg->compid; - wpm->current_count = wpc.count; - - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - - } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { - - if (wpm->current_wp_id == 0) { - mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); - if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid); - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); - if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", wpm->current_wp_id); - } - } else { - mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy"); - if (verbose) warnx("IGN MISSION_COUNT CMD: Busy"); - } - } else { - - mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch"); - if (verbose) warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); - } - } - break; - - case MAVLINK_MSG_ID_MISSION_ITEM: { - mavlink_mission_item_t wp; - mavlink_msg_mission_item_decode(msg, &wp); - - if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) { - - wpm->timestamp_lastaction = now; - - /* - * ensure that we are in the correct state and that the first waypoint has id 0 - * and the following waypoints have the correct ids - */ - - if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { - - if (wp.seq != 0) { - mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0"); - warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.", wp.seq); - break; - } - } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - - if (wp.seq >= wpm->current_count) { - mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds"); - warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.", wp.seq); - break; - } - - if (wp.seq != wpm->current_wp_id) { - warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.", wp.seq, wpm->current_wp_id); - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - break; - } - } - - wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; - - struct mission_item_s mission_item; - - int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item); - - if (ret != OK) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, ret); - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - break; - } - - ssize_t len = sizeof(struct mission_item_s); - - dm_item_t dm_next; - - if (wpm->current_dataman_id == 0) { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; - mission.dataman_id = 1; - } else { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; - mission.dataman_id = 0; - } - - if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - break; - } - - if (wp.current) { - mission.current_index = wp.seq; - } - - wpm->current_wp_id = wp.seq + 1; - - if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - - if (verbose) warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_count); - - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); - - mission.count = wpm->current_count; - - publish_mission(); - - wpm->current_dataman_id = mission.dataman_id; - wpm->size = wpm->current_count; - - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - - } else { - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - } - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); - if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { - mavlink_mission_clear_all_t wpca; - mavlink_msg_mission_clear_all_decode(msg, &wpca); - - if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { - - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - wpm->timestamp_lastaction = now; - - wpm->size = 0; - - /* prepare mission topic */ - mission.dataman_id = -1; - mission.count = 0; - mission.current_index = -1; - publish_mission(); - - if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); - } else { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); - } - - - } else { - mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy"); - if (verbose) warnx("IGN WP CLEAR CMD: Busy"); - } - - - } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - - mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch"); - if (verbose) warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); - } - - break; - } - - default: { - /* other messages might should get caught by mavlink and others */ - break; - } - } -} diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h index f8b58c7d92..532eff7aa1 100644 --- a/src/modules/mavlink/waypoints.h +++ b/src/modules/mavlink/waypoints.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * @author Thomas Gubler - * @author Julian Oes + * Copyright (c) 2009-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +34,11 @@ /** * @file waypoints.h * MAVLink waypoint protocol definition (BSD-relicensed). + * + * @author Petri Tanskanen + * @author Lorenz Meier + * @author Thomas Gubler + * @author Julian Oes */ #ifndef WAYPOINTS_H_ @@ -106,7 +108,4 @@ extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float pa static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; -void mavlink_missionlib_send_message(mavlink_message_t *msg); -int mavlink_missionlib_send_gcs_string(const char *string); - #endif /* WAYPOINTS_H_ */ diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c deleted file mode 100644 index ab9ce45f3e..0000000000 --- a/src/modules/mavlink_onboard/mavlink.c +++ /dev/null @@ -1,537 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * 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.c - * MAVLink 1.0 protocol implementation. - * - * @author Lorenz Meier - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "mavlink_bridge_header.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include "orb_topics.h" -#include "util.h" - -__EXPORT int mavlink_onboard_main(int argc, char *argv[]); - -static int mavlink_thread_main(int argc, char *argv[]); - -/* thread state */ -volatile bool thread_should_exit = false; -static volatile bool thread_running = false; -static int mavlink_task; - -/* pthreads */ -static pthread_t receive_thread; - -/* terminate MAVLink on user request - disabled by default */ -static bool mavlink_link_termination_allowed = false; - -mavlink_system_t mavlink_system = { - 100, - 50, - MAV_TYPE_QUADROTOR, - 0, - 0, - 0 -}; // System ID, 1-255, Component/Subsystem ID, 1-255 - -/* XXX not widely used */ -uint8_t chan = MAVLINK_COMM_0; - -/* XXX probably should be in a header... */ -extern pthread_t receive_start(int uart); - -bool mavlink_hil_enabled = false; - -/* protocol interface */ -static int uart; -static int baudrate; -bool gcs_link = true; - -/* interface mode */ -static enum { - MAVLINK_INTERFACE_MODE_OFFBOARD, - MAVLINK_INTERFACE_MODE_ONBOARD -} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD; - -static void mavlink_update_system(void); -static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); -static void usage(void); - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) -{ - /* process baud rate */ - int speed; - - switch (baud) { - case 0: speed = B0; break; - - case 50: speed = B50; break; - - case 75: speed = B75; break; - - case 110: speed = B110; break; - - case 134: speed = B134; break; - - case 150: speed = B150; break; - - case 200: speed = B200; break; - - case 300: speed = B300; break; - - case 600: speed = B600; break; - - case 1200: speed = B1200; break; - - case 1800: speed = B1800; break; - - case 2400: speed = B2400; break; - - case 4800: speed = B4800; break; - - case 9600: speed = B9600; break; - - case 19200: speed = B19200; break; - - case 38400: speed = B38400; break; - - case 57600: speed = B57600; break; - - case 115200: speed = B115200; break; - - case 230400: speed = B230400; break; - - case 460800: speed = B460800; break; - - case 921600: speed = B921600; break; - - default: - warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600", baud); - return -EINVAL; - } - - /* open uart */ - warnx("UART is %s, baudrate is %d", uart_name, baud); - uart = open(uart_name, O_RDWR | O_NOCTTY); - - /* Try to set baud rate */ - struct termios uart_config; - int termios_state; - *is_usb = false; - - if (strcmp(uart_name, "/dev/ttyACM0") != OK) { - /* Back up the original uart configuration to restore it after exit */ - if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - warnx("ERROR getting baudrate / termios config for %s: %d", uart_name, termios_state); - close(uart); - return -1; - } - - /* Fill the struct for the new configuration */ - tcgetattr(uart, &uart_config); - - /* Clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - - /* Set baud rate */ - if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)", uart_name, termios_state); - close(uart); - return -1; - } - - - if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - warnx("ERROR setting baudrate / termios config for %s (tcsetattr)", uart_name); - close(uart); - return -1; - } - - } else { - *is_usb = true; - } - - return uart; -} - -void -mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length) -{ - write(uart, ch, (size_t)(sizeof(uint8_t) * length)); -} - -/* - * Internal function to give access to the channel status for each channel - */ -mavlink_status_t* mavlink_get_channel_status(uint8_t channel) -{ - static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; - return &m_mavlink_status[channel]; -} - -/* - * Internal function to give access to the channel buffer for each channel - */ -mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel) -{ - static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS]; - return &m_mavlink_buffer[channel]; -} - -void mavlink_update_system(void) -{ - static bool initialized = false; - param_t param_system_id; - param_t param_component_id; - param_t param_system_type; - - if (!initialized) { - param_system_id = param_find("MAV_SYS_ID"); - param_component_id = param_find("MAV_COMP_ID"); - param_system_type = param_find("MAV_TYPE"); - } - - /* update system and component id */ - int32_t system_id; - param_get(param_system_id, &system_id); - if (system_id > 0 && system_id < 255) { - mavlink_system.sysid = system_id; - } - - int32_t component_id; - param_get(param_component_id, &component_id); - if (component_id > 0 && component_id < 255) { - mavlink_system.compid = component_id; - } - - int32_t system_type; - param_get(param_system_type, &system_type); - if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { - mavlink_system.type = system_type; - } -} - -void -get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed, - uint8_t *mavlink_state, uint8_t *mavlink_mode) -{ - /* reset MAVLink mode bitfield */ - *mavlink_mode = 0; - - /* set mode flags independent of system state */ - if (control_mode->flag_control_manual_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - } - - if (control_mode->flag_system_hil_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; - } - - /* set arming state */ - if (armed->armed) { - *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; - } else { - *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; - } - - if (control_mode->flag_control_velocity_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; - } else { - *mavlink_mode &= ~MAV_MODE_FLAG_GUIDED_ENABLED; - } - -// switch (v_status->state_machine) { -// case SYSTEM_STATE_PREFLIGHT: -// if (v_status->flag_preflight_gyro_calibration || -// v_status->flag_preflight_mag_calibration || -// v_status->flag_preflight_accel_calibration) { -// *mavlink_state = MAV_STATE_CALIBRATING; -// } else { -// *mavlink_state = MAV_STATE_UNINIT; -// } -// break; -// -// case SYSTEM_STATE_STANDBY: -// *mavlink_state = MAV_STATE_STANDBY; -// break; -// -// case SYSTEM_STATE_GROUND_READY: -// *mavlink_state = MAV_STATE_ACTIVE; -// break; -// -// case SYSTEM_STATE_MANUAL: -// *mavlink_state = MAV_STATE_ACTIVE; -// *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; -// break; -// -// case SYSTEM_STATE_STABILIZED: -// *mavlink_state = MAV_STATE_ACTIVE; -// *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; -// break; -// -// case SYSTEM_STATE_AUTO: -// *mavlink_state = MAV_STATE_ACTIVE; -// *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; -// break; -// -// case SYSTEM_STATE_MISSION_ABORT: -// *mavlink_state = MAV_STATE_EMERGENCY; -// break; -// -// case SYSTEM_STATE_EMCY_LANDING: -// *mavlink_state = MAV_STATE_EMERGENCY; -// break; -// -// case SYSTEM_STATE_EMCY_CUTOFF: -// *mavlink_state = MAV_STATE_EMERGENCY; -// break; -// -// case SYSTEM_STATE_GROUND_ERROR: -// *mavlink_state = MAV_STATE_EMERGENCY; -// break; -// -// case SYSTEM_STATE_REBOOT: -// *mavlink_state = MAV_STATE_POWEROFF; -// break; -// } - -} - -/** - * MAVLink Protocol main function. - */ -int mavlink_thread_main(int argc, char *argv[]) -{ - int ch; - char *device_name = "/dev/ttyS1"; - baudrate = 57600; - - /* XXX this is never written? */ - struct vehicle_status_s v_status; - struct vehicle_control_mode_s control_mode; - struct actuator_armed_s armed; - - /* work around some stupidity in task_create's argv handling */ - argc -= 2; - argv += 2; - - while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) { - switch (ch) { - case 'b': - baudrate = strtoul(optarg, NULL, 10); - if (baudrate == 0) - errx(1, "invalid baud rate '%s'", optarg); - break; - - case 'd': - device_name = optarg; - break; - - case 'e': - mavlink_link_termination_allowed = true; - break; - - case 'o': - mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD; - break; - - default: - usage(); - } - } - - struct termios uart_config_original; - bool usb_uart; - - /* print welcome text */ - warnx("MAVLink v1.0 serial interface starting..."); - - /* inform about mode */ - warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE"); - - /* Flush stdout in case MAVLink is about to take it over */ - fflush(stdout); - - /* default values for arguments */ - uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart); - if (uart < 0) - err(1, "could not open %s", device_name); - - /* Initialize system properties */ - mavlink_update_system(); - - /* start the MAVLink receiver */ - receive_thread = receive_start(uart); - - thread_running = true; - - /* arm counter to go off immediately */ - unsigned lowspeed_counter = 10; - - while (!thread_should_exit) { - - /* 1 Hz */ - if (lowspeed_counter == 10) { - mavlink_update_system(); - - /* translate the current system state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&control_mode, &armed, &mavlink_state, &mavlink_mode); - - /* send heartbeat */ - // TODO fix navigation state, use control_mode topic - mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, 0, mavlink_state); - - /* send status (values already copied in the section above) */ - mavlink_msg_sys_status_send(chan, - v_status.onboard_control_sensors_present, - v_status.onboard_control_sensors_enabled, - v_status.onboard_control_sensors_health, - v_status.load * 1000.0f, - v_status.battery_voltage * 1000.0f, - v_status.battery_current * 1000.0f, - v_status.battery_remaining, - v_status.drop_rate_comm, - v_status.errors_comm, - v_status.errors_count1, - v_status.errors_count2, - v_status.errors_count3, - v_status.errors_count4); - lowspeed_counter = 0; - } - lowspeed_counter++; - - /* sleep 1000 ms */ - usleep(1000000); - } - - /* wait for threads to complete */ - pthread_join(receive_thread, NULL); - - /* Reset the UART flags to original state */ - if (!usb_uart) - tcsetattr(uart, TCSANOW, &uart_config_original); - - thread_running = false; - - exit(0); -} - -static void -usage() -{ - fprintf(stderr, "usage: mavlink_onboard start [-d ] [-b ]\n" - " mavlink_onboard stop\n" - " mavlink_onboard status\n"); - exit(1); -} - -int mavlink_onboard_main(int argc, char *argv[]) -{ - - if (argc < 2) { - warnx("missing command"); - usage(); - } - - if (!strcmp(argv[1], "start")) { - - /* this is not an error */ - if (thread_running) - errx(0, "already running"); - - thread_should_exit = false; - mavlink_task = task_spawn_cmd("mavlink_onboard", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - mavlink_thread_main, - (const char**)argv); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - while (thread_running) { - usleep(200000); - } - warnx("terminated"); - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - errx(0, "running"); - } else { - errx(1, "not running"); - } - } - - warnx("unrecognized command"); - usage(); - /* not getting here */ - return 0; -} - diff --git a/src/modules/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c deleted file mode 100644 index 4658bcc1d4..0000000000 --- a/src/modules/mavlink_onboard/mavlink_receiver.c +++ /dev/null @@ -1,344 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * 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 - * - * @author Lorenz Meier - */ - -/* XXX trim includes */ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "mavlink_bridge_header.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include "util.h" -#include "orb_topics.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; - -extern bool gcs_link; - -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 */ - warnx("terminating..."); - 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 = hrt_absolute_time(); - 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); - - if (mavlink_system.sysid < 4) { - - /* switch to a receiving link mode */ - gcs_link = false; - - /* - * rate control mode - defined by MAVLink - */ - - uint8_t ml_mode = 0; - bool ml_armed = false; - - 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 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX; - - if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 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); - } - } - } - -} - - -/** - * Receive data from UART. - */ -static void * -receive_thread(void *arg) -{ - int uart_fd = *((int *)arg); - - const int timeout = 1000; - uint8_t buf[32]; - - mavlink_message_t msg; - - prctl(PR_SET_NAME, "mavlink_onboard_rcv", getpid()); - - struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } }; - - ssize_t nread = 0; - - while (!thread_should_exit) { - if (poll(fds, 1, timeout) > 0) { - if (nread < sizeof(buf)) { - /* to avoid reading very small chunks wait for data before reading */ - usleep(1000); - } - - /* non-blocking read. read may return negative values */ - nread = read(uart_fd, buf, sizeof(buf)); - - /* if read failed, this loop won't execute */ - for (ssize_t i = 0; i < nread; i++) { - if (mavlink_parse_char(chan, buf[i], &msg, &status)) { - /* handle generic messages and commands */ - handle_message(&msg); - } - } - } - } - - return NULL; -} - -pthread_t -receive_start(int uart) -{ - pthread_attr_t receiveloop_attr; - pthread_attr_init(&receiveloop_attr); - - struct sched_param param; - param.sched_priority = SCHED_PRIORITY_MAX - 40; - (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - - pthread_attr_setstacksize(&receiveloop_attr, 2048); - - pthread_t thread; - pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); - return thread; -} diff --git a/src/modules/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h deleted file mode 100644 index bbc9f6e66a..0000000000 --- a/src/modules/mavlink_onboard/orb_topics.h +++ /dev/null @@ -1,102 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * 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 -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -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 safety_sub; - int actuators_sub; - int local_pos_sub; - int spa_sub; - int spl_sub; - int spg_sub; - int debug_key_value; - int input_rc_sub; -}; - -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); diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 2ef25972b0..77c7c61e9b 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -1,9 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. - * Author: @author Tobias Naegeli - * @author Lorenz Meier - * @author Anton Babushkin * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,9 +32,13 @@ ****************************************************************************/ /** - * @file mc_att_control_main.c + * @file mc_att_control_main.cpp * Multicopter attitude controller. * + * @author Tobias Naegeli + * @author Lorenz Meier + * @author Anton Babushkin + * * The controller has two loops: P loop for angular error and PD loop for angular rate error. * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch. * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw, @@ -71,7 +72,7 @@ #include #include #include -#include +#include #include /** @@ -156,13 +157,14 @@ private: param_t yaw_rate_i; param_t yaw_rate_d; param_t yaw_ff; - param_t roll_scale_acro; - param_t pitch_scale_acro; - param_t yaw_scale_acro; + param_t yaw_rate_max; - param_t rc_scale_roll; - param_t rc_scale_pitch; - param_t rc_scale_yaw; + param_t man_roll_max; + param_t man_pitch_max; + param_t man_yaw_max; + param_t acro_roll_max; + param_t acro_pitch_max; + param_t acro_yaw_max; } _params_handles; /**< handles for interesting parameters */ struct { @@ -171,9 +173,12 @@ private: math::Vector<3> rate_i; /**< I gain for angular rate error */ math::Vector<3> rate_d; /**< D gain for angular rate error */ float yaw_ff; /**< yaw control feed-forward */ - math::Vector<3> scale_acro; /**< scale for ACRO mode */ + float yaw_rate_max; /**< max yaw rate */ - math::Vector<3> rc_scale; /**< scale for MANUAL mode */ + float man_roll_max; + float man_pitch_max; + float man_yaw_max; + math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */ } _params; /** @@ -227,9 +232,9 @@ private: static void task_main_trampoline(int argc, char *argv[]); /** - * Main sensor collection task. + * Main attitude control task. */ - void task_main() __attribute__((noreturn)); + void task_main(); }; namespace mc_att_control @@ -278,8 +283,12 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _params.rate_p.zero(); _params.rate_i.zero(); _params.rate_d.zero(); - _params.scale_acro.zero(); - _params.rc_scale.zero(); + _params.yaw_ff = 0.0f; + _params.yaw_rate_max = 0.0f; + _params.man_roll_max = 0.0f; + _params.man_pitch_max = 0.0f; + _params.man_yaw_max = 0.0f; + _params.acro_rate_max.zero(); _rates_prev.zero(); _rates_sp.zero(); @@ -289,26 +298,26 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _I.identity(); - _params_handles.roll_p = param_find("MC_ROLL_P"); - _params_handles.roll_rate_p = param_find("MC_ROLLRATE_P"); - _params_handles.roll_rate_i = param_find("MC_ROLLRATE_I"); - _params_handles.roll_rate_d = param_find("MC_ROLLRATE_D"); - _params_handles.pitch_p = param_find("MC_PITCH_P"); - _params_handles.pitch_rate_p = param_find("MC_PITCHRATE_P"); - _params_handles.pitch_rate_i = param_find("MC_PITCHRATE_I"); - _params_handles.pitch_rate_d = param_find("MC_PITCHRATE_D"); - _params_handles.yaw_p = param_find("MC_YAW_P"); - _params_handles.yaw_rate_p = param_find("MC_YAWRATE_P"); - _params_handles.yaw_rate_i = param_find("MC_YAWRATE_I"); - _params_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); - _params_handles.yaw_ff = param_find("MC_YAW_FF"); - _params_handles.roll_scale_acro = param_find("MC_ROLL_S_ACRO"); - _params_handles.pitch_scale_acro = param_find("MC_PITCH_S_ACRO"); - _params_handles.yaw_scale_acro = param_find("MC_YAW_S_ACRO"); - - _params_handles.rc_scale_roll = param_find("RC_SCALE_ROLL"); - _params_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH"); - _params_handles.rc_scale_yaw = param_find("RC_SCALE_YAW"); + _params_handles.roll_p = param_find("MC_ROLL_P"); + _params_handles.roll_rate_p = param_find("MC_ROLLRATE_P"); + _params_handles.roll_rate_i = param_find("MC_ROLLRATE_I"); + _params_handles.roll_rate_d = param_find("MC_ROLLRATE_D"); + _params_handles.pitch_p = param_find("MC_PITCH_P"); + _params_handles.pitch_rate_p = param_find("MC_PITCHRATE_P"); + _params_handles.pitch_rate_i = param_find("MC_PITCHRATE_I"); + _params_handles.pitch_rate_d = param_find("MC_PITCHRATE_D"); + _params_handles.yaw_p = param_find("MC_YAW_P"); + _params_handles.yaw_rate_p = param_find("MC_YAWRATE_P"); + _params_handles.yaw_rate_i = param_find("MC_YAWRATE_I"); + _params_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); + _params_handles.yaw_ff = param_find("MC_YAW_FF"); + _params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX"); + _params_handles.man_roll_max = param_find("MC_MAN_R_MAX"); + _params_handles.man_pitch_max = param_find("MC_MAN_P_MAX"); + _params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX"); + _params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX"); + _params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX"); + _params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX"); /* fetch initial parameter values */ parameters_update(); @@ -343,7 +352,7 @@ MulticopterAttitudeControl::parameters_update() { float v; - /* roll */ + /* roll gains */ param_get(_params_handles.roll_p, &v); _params.att_p(0) = v; param_get(_params_handles.roll_rate_p, &v); @@ -352,12 +361,8 @@ MulticopterAttitudeControl::parameters_update() _params.rate_i(0) = v; param_get(_params_handles.roll_rate_d, &v); _params.rate_d(0) = v; - param_get(_params_handles.roll_scale_acro, &v); - _params.scale_acro(0) = v; - param_get(_params_handles.rc_scale_roll, &v); - _params.rc_scale(0) = v; - /* pitch */ + /* pitch gains */ param_get(_params_handles.pitch_p, &v); _params.att_p(1) = v; param_get(_params_handles.pitch_rate_p, &v); @@ -366,12 +371,8 @@ MulticopterAttitudeControl::parameters_update() _params.rate_i(1) = v; param_get(_params_handles.pitch_rate_d, &v); _params.rate_d(1) = v; - param_get(_params_handles.pitch_scale_acro, &v); - _params.scale_acro(1) = v; - param_get(_params_handles.rc_scale_pitch, &v); - _params.rc_scale(1) = v; - /* yaw */ + /* yaw gains */ param_get(_params_handles.yaw_p, &v); _params.att_p(2) = v; param_get(_params_handles.yaw_rate_p, &v); @@ -380,11 +381,26 @@ MulticopterAttitudeControl::parameters_update() _params.rate_i(2) = v; param_get(_params_handles.yaw_rate_d, &v); _params.rate_d(2) = v; + param_get(_params_handles.yaw_ff, &_params.yaw_ff); - param_get(_params_handles.yaw_scale_acro, &v); - _params.scale_acro(2) = v; - param_get(_params_handles.rc_scale_yaw, &v); - _params.rc_scale(2) = v; + param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max); + _params.yaw_rate_max = math::radians(_params.yaw_rate_max); + + /* manual control scale */ + param_get(_params_handles.man_roll_max, &_params.man_roll_max); + param_get(_params_handles.man_pitch_max, &_params.man_pitch_max); + param_get(_params_handles.man_yaw_max, &_params.man_yaw_max); + _params.man_roll_max = math::radians(_params.man_roll_max); + _params.man_pitch_max = math::radians(_params.man_pitch_max); + _params.man_yaw_max = math::radians(_params.man_yaw_max); + + /* acro control scale */ + param_get(_params_handles.acro_roll_max, &v); + _params.acro_rate_max(0) = math::radians(v); + param_get(_params_handles.acro_pitch_max, &v); + _params.acro_rate_max(1) = math::radians(v); + param_get(_params_handles.acro_yaw_max, &v); + _params.acro_rate_max(2) = math::radians(v); return OK; } @@ -426,7 +442,6 @@ MulticopterAttitudeControl::vehicle_manual_poll() orb_check(_manual_control_sp_sub, &updated); if (updated) { - orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp); } } @@ -480,7 +495,6 @@ MulticopterAttitudeControl::control_attitude(float dt) if (_v_control_mode.flag_control_manual_enabled) { /* manual input, set or modify attitude setpoint */ - vehicle_manual_poll(); if (_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_climb_rate_enabled) { /* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */ @@ -489,7 +503,7 @@ MulticopterAttitudeControl::control_attitude(float dt) if (!_v_control_mode.flag_control_climb_rate_enabled) { /* pass throttle directly if not in altitude stabilized mode */ - _v_att_sp.thrust = _manual_control_sp.throttle; + _v_att_sp.thrust = _manual_control_sp.z; publish_att_sp = true; } @@ -506,24 +520,19 @@ MulticopterAttitudeControl::control_attitude(float dt) // reset_yaw_sp = true; //} } else { - float yaw_dz_scaled = YAW_DEADZONE * _params.rc_scale(2); + /* move yaw setpoint */ + yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max; + _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); + float yaw_offs_max = _params.man_yaw_max / _params.att_p(2); + float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw); + if (yaw_offs < - yaw_offs_max) { + _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max); - if (_params.rc_scale(2) > 0.001f && fabs(_manual_control_sp.yaw) > yaw_dz_scaled) { - /* move yaw setpoint */ - yaw_sp_move_rate = _manual_control_sp.yaw / _params.rc_scale(2); - - if (_manual_control_sp.yaw > 0.0f) { - yaw_sp_move_rate -= YAW_DEADZONE; - - } else { - yaw_sp_move_rate += YAW_DEADZONE; - } - - yaw_sp_move_rate *= _params.rc_scale(2); - _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); - _v_att_sp.R_valid = false; - publish_att_sp = true; + } else if (yaw_offs > yaw_offs_max) { + _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max); } + _v_att_sp.R_valid = false; + publish_att_sp = true; } /* reset yaw setpint to current position if needed */ @@ -536,8 +545,8 @@ MulticopterAttitudeControl::control_attitude(float dt) if (!_v_control_mode.flag_control_velocity_enabled) { /* update attitude setpoint if not in position control mode */ - _v_att_sp.roll_body = _manual_control_sp.roll; - _v_att_sp.pitch_body = _manual_control_sp.pitch; + _v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max; + _v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max; _v_att_sp.R_valid = false; publish_att_sp = true; } @@ -650,6 +659,9 @@ MulticopterAttitudeControl::control_attitude(float dt) /* calculate angular rates setpoint */ _rates_sp = _params.att_p.emult(e_R); + /* limit yaw rate */ + _rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max); + /* feed forward yaw setpoint rate */ _rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff; } @@ -765,6 +777,7 @@ MulticopterAttitudeControl::task_main() parameter_update_poll(); vehicle_control_mode_poll(); arming_status_poll(); + vehicle_manual_poll(); if (_v_control_mode.flag_control_attitude_enabled) { control_attitude(dt); @@ -784,20 +797,11 @@ MulticopterAttitudeControl::task_main() } } else { - /* attitude controller disabled */ + /* attitude controller disabled, poll rates setpoint topic */ if (_v_control_mode.flag_control_manual_enabled) { - /* manual rates control, ACRO mode */ - vehicle_manual_poll(); - - _rates_sp(0) = _manual_control_sp.roll; - _rates_sp(1) = _manual_control_sp.pitch; - _rates_sp(2) = _manual_control_sp.yaw; - - /* rescale controls for ACRO mode */ - _rates_sp = _rates_sp.edivide(_params.rc_scale).emult(_params.scale_acro); - _thrust_sp = _manual_control_sp.throttle; - - _reset_yaw_sp = true; + /* manual rates control - ACRO mode */ + _rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max); + _thrust_sp = _manual_control_sp.z; /* publish attitude rates setpoint */ _v_rates_sp.roll = _rates_sp(0); @@ -860,7 +864,7 @@ MulticopterAttitudeControl::start() _control_task = task_spawn_cmd("mc_att_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2048, + 2000, (main_t)&MulticopterAttitudeControl::task_main_trampoline, nullptr); diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 56b61a88b6..819847b409 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -1,9 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. - * Author: @author Tobias Naegeli - * @author Lorenz Meier - * @author Anton Babushkin * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +34,10 @@ /** * @file mc_att_control_params.c * Parameters for multicopter attitude controller. + * + * @author Tobias Naegeli + * @author Lorenz Meier + * @author Anton Babushkin */ #include @@ -173,6 +174,73 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); * @group Multicopter Attitude Control */ PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f); -PARAM_DEFINE_FLOAT(MC_ROLL_S_ACRO, 5.0f); -PARAM_DEFINE_FLOAT(MC_PITCH_S_ACRO, 5.0f); -PARAM_DEFINE_FLOAT(MC_YAW_S_ACRO, 3.0f); + +/** + * Max yaw rate + * + * Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + * + * @unit deg/s + * @min 0.0 + * @max 360.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f); + +/** + * Max manual roll + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f); + +/** + * Max manual pitch + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f); + +/** + * Max manual yaw rate + * + * @unit deg/s + * @min 0.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f); + +/** + * Max acro roll rate + * + * @unit deg/s + * @min 0.0 + * @max 360.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f); + +/** + * Max acro pitch rate + * + * @unit deg/s + * @min 0.0 + * @max 360.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f); + +/** + * Max acro yaw rate + * + * @unit deg/s + * @min 0.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f); diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 78d06ba5b5..09960d106e 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: @author Anton Babushkin + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,6 +39,8 @@ * Output of velocity controller is thrust vector that splitted to thrust direction * (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself). * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging. + * + * @author Anton Babushkin */ #include @@ -62,9 +63,10 @@ #include #include #include -#include +#include #include #include +#include #include #include #include @@ -114,20 +116,21 @@ private: int _params_sub; /**< notification of parameter updates */ int _manual_sub; /**< notification of manual control updates */ int _arming_sub; /**< arming status of outputs */ - int _global_pos_sub; /**< vehicle local position */ + int _local_pos_sub; /**< vehicle local position */ int _pos_sp_triplet_sub; /**< position setpoint triplet */ orb_advert_t _att_sp_pub; /**< attitude setpoint publication */ - orb_advert_t _pos_sp_triplet_pub; /**< position setpoint triplet publication */ - orb_advert_t _global_vel_sp_pub; /**< vehicle global velocity setpoint */ + orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */ + orb_advert_t _global_vel_sp_pub; /**< vehicle global velocity setpoint publication */ struct vehicle_attitude_s _att; /**< vehicle attitude */ struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ struct manual_control_setpoint_s _manual; /**< r/c channel data */ struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */ struct actuator_armed_s _arming; /**< actuator arming status */ - struct vehicle_global_position_s _global_pos; /**< vehicle global position */ + struct vehicle_local_position_s _local_pos; /**< vehicle local position */ struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */ + struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */ struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */ struct { @@ -145,23 +148,17 @@ private: param_t xy_vel_d; param_t xy_vel_max; param_t xy_ff; - param_t tilt_max; + param_t tilt_max_air; param_t land_speed; - param_t land_tilt_max; - - param_t rc_scale_pitch; - param_t rc_scale_roll; + param_t tilt_max_land; } _params_handles; /**< handles for interesting parameters */ struct { float thr_min; float thr_max; - float tilt_max; + float tilt_max_air; float land_speed; - float land_tilt_max; - - float rc_scale_pitch; - float rc_scale_roll; + float tilt_max_land; math::Vector<3> pos_p; math::Vector<3> vel_p; @@ -172,14 +169,15 @@ private: math::Vector<3> sp_offs_max; } _params; - double _lat_sp; - double _lon_sp; - float _alt_sp; + struct map_projection_reference_s _ref_pos; + float _ref_alt; + hrt_abstime _ref_timestamp; - bool _reset_lat_lon_sp; + bool _reset_pos_sp; bool _reset_alt_sp; - bool _use_global_alt; /**< switch between global (AMSL) and barometric altitudes */ + math::Vector<3> _pos; + math::Vector<3> _pos_sp; math::Vector<3> _vel; math::Vector<3> _vel_sp; math::Vector<3> _vel_prev; /**< velocity on previous step */ @@ -202,9 +200,13 @@ private: static float scale_control(float ctl, float end, float dz); /** - * Reset lat/lon to current position + * Update reference for local position projection */ - void reset_lat_lon_sp(); + void update_ref(); + /** + * Reset position setpoint to current position + */ + void reset_pos_sp(); /** * Reset altitude setpoint to current altitude @@ -224,7 +226,7 @@ private: /** * Main sensor collection task. */ - void task_main() __attribute__((noreturn)); + void task_main(); }; namespace pos_control @@ -252,31 +254,32 @@ MulticopterPositionControl::MulticopterPositionControl() : _params_sub(-1), _manual_sub(-1), _arming_sub(-1), - _global_pos_sub(-1), + _local_pos_sub(-1), _pos_sp_triplet_sub(-1), /* publications */ _att_sp_pub(-1), - _pos_sp_triplet_pub(-1), + _local_pos_sp_pub(-1), _global_vel_sp_pub(-1), - _lat_sp(0.0), - _lon_sp(0.0), - _alt_sp(0.0f), + _ref_alt(0.0f), + _ref_timestamp(0), - _reset_lat_lon_sp(true), - _reset_alt_sp(true), - _use_global_alt(false) + _reset_pos_sp(true), + _reset_alt_sp(true) { memset(&_att, 0, sizeof(_att)); memset(&_att_sp, 0, sizeof(_att_sp)); memset(&_manual, 0, sizeof(_manual)); memset(&_control_mode, 0, sizeof(_control_mode)); memset(&_arming, 0, sizeof(_arming)); - memset(&_global_pos, 0, sizeof(_global_pos)); + memset(&_local_pos, 0, sizeof(_local_pos)); memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet)); + memset(&_local_pos_sp, 0, sizeof(_local_pos_sp)); memset(&_global_vel_sp, 0, sizeof(_global_vel_sp)); + memset(&_ref_pos, 0, sizeof(_ref_pos)); + _params.pos_p.zero(); _params.vel_p.zero(); _params.vel_i.zero(); @@ -285,6 +288,8 @@ MulticopterPositionControl::MulticopterPositionControl() : _params.vel_ff.zero(); _params.sp_offs_max.zero(); + _pos.zero(); + _pos_sp.zero(); _vel.zero(); _vel_sp.zero(); _vel_prev.zero(); @@ -303,11 +308,9 @@ MulticopterPositionControl::MulticopterPositionControl() : _params_handles.xy_vel_d = param_find("MPC_XY_VEL_D"); _params_handles.xy_vel_max = param_find("MPC_XY_VEL_MAX"); _params_handles.xy_ff = param_find("MPC_XY_FF"); - _params_handles.tilt_max = param_find("MPC_TILT_MAX"); + _params_handles.tilt_max_air = param_find("MPC_TILTMAX_AIR"); _params_handles.land_speed = param_find("MPC_LAND_SPEED"); - _params_handles.land_tilt_max = param_find("MPC_LAND_TILT"); - _params_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH"); - _params_handles.rc_scale_roll = param_find("RC_SCALE_ROLL"); + _params_handles.tilt_max_land = param_find("MPC_TILTMAX_LND"); /* fetch initial parameter values */ parameters_update(true); @@ -345,17 +348,18 @@ MulticopterPositionControl::parameters_update(bool force) orb_check(_params_sub, &updated); - if (updated) + if (updated) { orb_copy(ORB_ID(parameter_update), _params_sub, ¶m_upd); + } if (updated || force) { param_get(_params_handles.thr_min, &_params.thr_min); param_get(_params_handles.thr_max, &_params.thr_max); - param_get(_params_handles.tilt_max, &_params.tilt_max); + param_get(_params_handles.tilt_max_air, &_params.tilt_max_air); + _params.tilt_max_air = math::radians(_params.tilt_max_air); param_get(_params_handles.land_speed, &_params.land_speed); - param_get(_params_handles.land_tilt_max, &_params.land_tilt_max); - param_get(_params_handles.rc_scale_pitch, &_params.rc_scale_pitch); - param_get(_params_handles.rc_scale_roll, &_params.rc_scale_roll); + param_get(_params_handles.tilt_max_land, &_params.tilt_max_land); + _params.tilt_max_land = math::radians(_params.tilt_max_land); float v; param_get(_params_handles.xy_p, &v); @@ -402,33 +406,39 @@ MulticopterPositionControl::poll_subscriptions() orb_check(_att_sub, &updated); - if (updated) + if (updated) { orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); + } orb_check(_att_sp_sub, &updated); - if (updated) + if (updated) { orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp); + } orb_check(_control_mode_sub, &updated); - if (updated) + if (updated) { orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); + } orb_check(_manual_sub, &updated); - if (updated) + if (updated) { orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual); + } orb_check(_arming_sub, &updated); - if (updated) + if (updated) { orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming); + } - orb_check(_global_pos_sub, &updated); + orb_check(_local_pos_sub, &updated); - if (updated) - orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos); + if (updated) { + orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos); + } } float @@ -452,13 +462,40 @@ MulticopterPositionControl::task_main_trampoline(int argc, char *argv[]) } void -MulticopterPositionControl::reset_lat_lon_sp() +MulticopterPositionControl::update_ref() { - if (_reset_lat_lon_sp) { - _reset_lat_lon_sp = false; - _lat_sp = _global_pos.lat; - _lon_sp = _global_pos.lon; - mavlink_log_info(_mavlink_fd, "[mpc] reset lat/lon sp: %.7f, %.7f", _lat_sp, _lon_sp); + if (_local_pos.ref_timestamp != _ref_timestamp) { + double lat_sp, lon_sp; + float alt_sp; + + if (_ref_timestamp != 0) { + /* calculate current position setpoint in global frame */ + map_projection_reproject(&_ref_pos, _pos_sp(0), _pos_sp(1), &lat_sp, &lon_sp); + alt_sp = _ref_alt - _pos_sp(2); + } + + /* update local projection reference */ + map_projection_init(&_ref_pos, _local_pos.ref_lat, _local_pos.ref_lon); + _ref_alt = _local_pos.ref_alt; + + if (_ref_timestamp != 0) { + /* reproject position setpoint to new reference */ + map_projection_project(&_ref_pos, lat_sp, lon_sp, &_pos_sp.data[0], &_pos_sp.data[1]); + _pos_sp(2) = -(alt_sp - _ref_alt); + } + + _ref_timestamp = _local_pos.ref_timestamp; + } +} + +void +MulticopterPositionControl::reset_pos_sp() +{ + if (_reset_pos_sp) { + _reset_pos_sp = false; + _pos_sp(0) = _pos(0); + _pos_sp(1) = _pos(1); + mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1)); } } @@ -467,25 +504,8 @@ MulticopterPositionControl::reset_alt_sp() { if (_reset_alt_sp) { _reset_alt_sp = false; - _alt_sp = _use_global_alt ? _global_pos.alt : _global_pos.baro_alt; - mavlink_log_info(_mavlink_fd, "[mpc] reset alt (%s) sp: %.2f", _use_global_alt ? "AMSL" : "baro", (double)_alt_sp); - } -} - -void -MulticopterPositionControl::select_alt(bool global) -{ - if (global != _use_global_alt) { - _use_global_alt = global; - - if (global) { - /* switch from barometric to global altitude */ - _alt_sp += _global_pos.alt - _global_pos.baro_alt; - - } else { - /* switch from global to barometric altitude */ - _alt_sp += _global_pos.baro_alt - _global_pos.alt; - } + _pos_sp(2) = _pos(2); + mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2)); } } @@ -506,7 +526,7 @@ MulticopterPositionControl::task_main() _params_sub = orb_subscribe(ORB_ID(parameter_update)); _manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); _arming_sub = orb_subscribe(ORB_ID(actuator_armed)); - _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + _local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); _pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); parameters_update(true); @@ -537,8 +557,7 @@ MulticopterPositionControl::task_main() /* wakeup source */ struct pollfd fds[1]; - /* Setup of loop */ - fds[0].fd = _global_pos_sub; + fds[0].fd = _local_pos_sub; fds[0].events = POLLIN; while (!_task_should_exit) { @@ -546,8 +565,9 @@ MulticopterPositionControl::task_main() int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500); /* timed out - periodic check for _task_should_exit */ - if (pret == 0) + if (pret == 0) { continue; + } /* this is undesirable but not much we can do */ if (pret < 0) { @@ -564,7 +584,7 @@ MulticopterPositionControl::task_main() if (_control_mode.flag_armed && !was_armed) { /* reset setpoints and integrals on arming */ - _reset_lat_lon_sp = true; + _reset_pos_sp = true; _reset_alt_sp = true; reset_int_z = true; reset_int_xy = true; @@ -572,44 +592,41 @@ MulticopterPositionControl::task_main() was_armed = _control_mode.flag_armed; + update_ref(); + if (_control_mode.flag_control_altitude_enabled || _control_mode.flag_control_position_enabled || _control_mode.flag_control_climb_rate_enabled || _control_mode.flag_control_velocity_enabled) { - _vel(0) = _global_pos.vel_n; - _vel(1) = _global_pos.vel_e; - _vel(2) = _global_pos.vel_d; + _pos(0) = _local_pos.x; + _pos(1) = _local_pos.y; + _pos(2) = _local_pos.z; + + _vel(0) = _local_pos.vx; + _vel(1) = _local_pos.vy; + _vel(2) = _local_pos.vz; sp_move_rate.zero(); - float alt = _global_pos.alt; - /* select control source */ if (_control_mode.flag_control_manual_enabled) { - /* select altitude source and update setpoint */ - select_alt(_global_pos.global_valid); - - if (!_use_global_alt) { - alt = _global_pos.baro_alt; - } - /* manual control */ if (_control_mode.flag_control_altitude_enabled) { /* reset alt setpoint to current altitude if needed */ reset_alt_sp(); /* move altitude setpoint with throttle stick */ - sp_move_rate(2) = -scale_control(_manual.throttle - 0.5f, 0.5f, alt_ctl_dz); + sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz); } if (_control_mode.flag_control_position_enabled) { - /* reset lat/lon setpoint to current position if needed */ - reset_lat_lon_sp(); + /* reset position setpoint to current position if needed */ + reset_pos_sp(); /* move position setpoint with roll/pitch stick */ - sp_move_rate(0) = scale_control(-_manual.pitch / _params.rc_scale_pitch, 1.0f, pos_ctl_dz); - sp_move_rate(1) = scale_control(_manual.roll / _params.rc_scale_roll, 1.0f, pos_ctl_dz); + sp_move_rate(0) = _manual.x; + sp_move_rate(1) = _manual.y; } /* limit setpoint move rate */ @@ -625,74 +642,47 @@ MulticopterPositionControl::task_main() sp_move_rate = R_yaw_sp * sp_move_rate.emult(_params.vel_max); /* move position setpoint */ - add_vector_to_global_position(_lat_sp, _lon_sp, sp_move_rate(0) * dt, sp_move_rate(1) * dt, &_lat_sp, &_lon_sp); - _alt_sp -= sp_move_rate(2) * dt; + _pos_sp += sp_move_rate * dt; /* check if position setpoint is too far from actual position */ math::Vector<3> pos_sp_offs; pos_sp_offs.zero(); if (_control_mode.flag_control_position_enabled) { - get_vector_to_next_waypoint_fast(_global_pos.lat, _global_pos.lon, _lat_sp, _lon_sp, &pos_sp_offs.data[0], &pos_sp_offs.data[1]); - pos_sp_offs(0) /= _params.sp_offs_max(0); - pos_sp_offs(1) /= _params.sp_offs_max(1); + pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0); + pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1); } if (_control_mode.flag_control_altitude_enabled) { - pos_sp_offs(2) = -(_alt_sp - alt) / _params.sp_offs_max(2); + pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2); } float pos_sp_offs_norm = pos_sp_offs.length(); if (pos_sp_offs_norm > 1.0f) { pos_sp_offs /= pos_sp_offs_norm; - add_vector_to_global_position(_global_pos.lat, _global_pos.lon, pos_sp_offs(0) * _params.sp_offs_max(0), pos_sp_offs(1) * _params.sp_offs_max(1), &_lat_sp, &_lon_sp); - _alt_sp = alt - pos_sp_offs(2) * _params.sp_offs_max(2); - } - - /* fill position setpoint triplet */ - _pos_sp_triplet.previous.valid = true; - _pos_sp_triplet.current.valid = true; - _pos_sp_triplet.next.valid = true; - - _pos_sp_triplet.nav_state = NAV_STATE_NONE; - _pos_sp_triplet.current.type = SETPOINT_TYPE_NORMAL; - _pos_sp_triplet.current.lat = _lat_sp; - _pos_sp_triplet.current.lon = _lon_sp; - _pos_sp_triplet.current.alt = _alt_sp; - _pos_sp_triplet.current.yaw = _att_sp.yaw_body; - _pos_sp_triplet.current.loiter_radius = 0.0f; - _pos_sp_triplet.current.loiter_direction = 1.0f; - _pos_sp_triplet.current.pitch_min = 0.0f; - - /* publish position setpoint triplet */ - if (_pos_sp_triplet_pub > 0) { - orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet); - - } else { - _pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet); + _pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max); } } else { - /* always use AMSL altitude for AUTO */ - select_alt(true); - /* AUTO */ bool updated; orb_check(_pos_sp_triplet_sub, &updated); - if (updated) + if (updated) { orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet); + } if (_pos_sp_triplet.current.valid) { /* in case of interrupted mission don't go to waypoint but stay at current position */ - _reset_lat_lon_sp = true; + _reset_pos_sp = true; _reset_alt_sp = true; - /* update position setpoint */ - _lat_sp = _pos_sp_triplet.current.lat; - _lon_sp = _pos_sp_triplet.current.lon; - _alt_sp = _pos_sp_triplet.current.alt; + /* project setpoint to local frame */ + map_projection_project(&_ref_pos, + _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon, + &_pos_sp.data[0], &_pos_sp.data[1]); + _pos_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt); /* update yaw setpoint if needed */ if (isfinite(_pos_sp_triplet.current.yaw)) { @@ -701,11 +691,25 @@ MulticopterPositionControl::task_main() } else { /* no waypoint, loiter, reset position setpoint if needed */ - reset_lat_lon_sp(); + reset_pos_sp(); reset_alt_sp(); } } + /* fill local position setpoint */ + _local_pos_sp.x = _pos_sp(0); + _local_pos_sp.y = _pos_sp(1); + _local_pos_sp.z = _pos_sp(2); + _local_pos_sp.yaw = _att_sp.yaw_body; + + /* publish local position setpoint */ + if (_local_pos_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp); + + } else { + _local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp); + } + if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) { /* idle state, don't run controller and set zero thrust */ R.identity(); @@ -729,9 +733,7 @@ MulticopterPositionControl::task_main() } else { /* run position & altitude controllers, calculate velocity setpoint */ - math::Vector<3> pos_err; - get_vector_to_next_waypoint_fast(_global_pos.lat, _global_pos.lon, _lat_sp, _lon_sp, &pos_err.data[0], &pos_err.data[1]); - pos_err(2) = -(_alt_sp - alt); + math::Vector<3> pos_err = _pos_sp - _pos; _vel_sp = pos_err.emult(_params.pos_p) + sp_move_rate.emult(_params.vel_ff); @@ -741,7 +743,7 @@ MulticopterPositionControl::task_main() } if (!_control_mode.flag_control_position_enabled) { - _reset_lat_lon_sp = true; + _reset_pos_sp = true; _vel_sp(0) = 0.0f; _vel_sp(1) = 0.0f; } @@ -780,7 +782,7 @@ MulticopterPositionControl::task_main() float i = _params.thr_min; if (reset_int_z_manual) { - i = _manual.throttle; + i = _manual.z; if (i < _params.thr_min) { i = _params.thr_min; @@ -839,16 +841,17 @@ MulticopterPositionControl::task_main() thr_min = 0.0f; } - float tilt_max = _params.tilt_max; + float tilt_max = _params.tilt_max_air; /* adjust limits for landing mode */ if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { /* limit max tilt and min lift when landing */ - tilt_max = _params.land_tilt_max; + tilt_max = _params.tilt_max_land; - if (thr_min < 0.0f) + if (thr_min < 0.0f) { thr_min = 0.0f; + } } /* limit min lift */ @@ -939,8 +942,9 @@ MulticopterPositionControl::task_main() thrust_int(2) += vel_err(2) * _params.vel_i(2) * dt; /* protection against flipping on ground when landing */ - if (thrust_int(2) > 0.0f) + if (thrust_int(2) > 0.0f) { thrust_int(2) = 0.0f; + } } /* calculate attitude setpoint from thrust vector */ @@ -999,6 +1003,18 @@ MulticopterPositionControl::task_main() _att_sp.roll_body = euler(0); _att_sp.pitch_body = euler(1); /* yaw already used to construct rot matrix, but actual rotation matrix can have different yaw near singularity */ + + } else if (!_control_mode.flag_control_manual_enabled) { + /* autonomous altitude control without position control (failsafe landing), + * force level attitude, don't change yaw */ + R.from_euler(0.0f, 0.0f, _att_sp.yaw_body); + + /* copy rotation matrix to attitude setpoint topic */ + memcpy(&_att_sp.R_body[0][0], R.data, sizeof(_att_sp.R_body)); + _att_sp.R_valid = true; + + _att_sp.roll_body = 0.0f; + _att_sp.pitch_body = 0.0f; } _att_sp.thrust = thrust_abs; @@ -1021,7 +1037,7 @@ MulticopterPositionControl::task_main() } else { /* position controller disabled, reset setpoints */ _reset_alt_sp = true; - _reset_lat_lon_sp = true; + _reset_pos_sp = true; reset_int_z = true; reset_int_xy = true; } @@ -1046,7 +1062,7 @@ MulticopterPositionControl::start() _control_task = task_spawn_cmd("mc_pos_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2048, + 2000, (main_t)&MulticopterPositionControl::task_main_trampoline, nullptr); @@ -1060,18 +1076,21 @@ MulticopterPositionControl::start() int mc_pos_control_main(int argc, char *argv[]) { - if (argc < 1) + if (argc < 1) { errx(1, "usage: mc_pos_control {start|stop|status}"); + } if (!strcmp(argv[1], "start")) { - if (pos_control::g_control != nullptr) + if (pos_control::g_control != nullptr) { errx(1, "already running"); + } pos_control::g_control = new MulticopterPositionControl; - if (pos_control::g_control == nullptr) + if (pos_control::g_control == nullptr) { errx(1, "alloc failed"); + } if (OK != pos_control::g_control->start()) { delete pos_control::g_control; @@ -1083,8 +1102,9 @@ int mc_pos_control_main(int argc, char *argv[]) } if (!strcmp(argv[1], "stop")) { - if (pos_control::g_control == nullptr) + if (pos_control::g_control == nullptr) { errx(1, "not running"); + } delete pos_control::g_control; pos_control::g_control = nullptr; diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 0082a5e6a6..05ab5769bb 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -35,6 +35,8 @@ /** * @file mc_pos_control_params.c * Multicopter position controller parameters. + * + * @author Anton Babushkin */ #include @@ -98,8 +100,9 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); /** * Maximum vertical velocity * - * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY). + * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). * + * @unit m/s * @min 0.0 * @group Multicopter Position Control */ @@ -108,7 +111,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f); /** * Vertical velocity feed forward * - * Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. * * @min 0.0 * @max 1.0 @@ -153,8 +156,9 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f); /** * Maximum horizontal velocity * - * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY). + * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). * + * @unit m/s * @min 0.0 * @group Multicopter Position Control */ @@ -163,7 +167,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); /** * Horizontal velocity feed forward * - * Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. * * @min 0.0 * @max 1.0 @@ -172,31 +176,35 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); /** - * Maximum tilt + * Maximum tilt angle in air * - * Limits maximum tilt in AUTO and EASY modes. + * Limits maximum tilt in AUTO and POSCTRL modes during flight. * + * @unit deg * @min 0.0 - * @max 1.57 + * @max 90.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f); +PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f); + +/** + * Maximum tilt during landing + * + * Limits maximum tilt angle on landing. + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f); /** * Landing descend rate * + * @unit m/s * @min 0.0 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f); -/** - * Maximum landing tilt - * - * Limits maximum tilt on landing. - * - * @min 0.0 - * @max 1.57 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 0.3f); diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 9bbaf167a3..bc8dbca506 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: @author Jean Cyr - * @author Thomas Gubler * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +33,9 @@ /** * @file geofence.cpp * Provides functions for handling the geofence + * + * @author Jean Cyr + * @author Thomas Gubler */ #include "geofence.h" @@ -55,11 +56,13 @@ #endif static const int ERROR = -1; -Geofence::Geofence() : _fence_pub(-1), +Geofence::Geofence() : + SuperBlock(NULL, "GF"), + _fence_pub(-1), _altitude_min(0), _altitude_max(0), _verticesCount(0), - param_geofence_on(NULL, "GF_ON", false) + param_geofence_on(this, "ON") { /* Load initial params */ updateParams(); @@ -292,8 +295,3 @@ int Geofence::clearDm() { dm_clear(DM_KEY_FENCE_POINTS); } - -void Geofence::updateParams() -{ - param_geofence_on.update(); -} diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 5b56ebc7a5..2eb126ab56 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -1,8 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: @author Jean Cyr - * @author Thomas Gubler * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,17 +33,22 @@ /** * @file geofence.h * Provides functions for handling the geofence + * + * @author Jean Cyr + * @author Thomas Gubler */ #ifndef GEOFENCE_H_ #define GEOFENCE_H_ #include +#include #include #define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt" -class Geofence { +class Geofence : public control::SuperBlock +{ private: orb_advert_t _fence_pub; /**< publish fence topic */ @@ -85,8 +88,6 @@ public: int loadFromFile(const char *filename); bool isEmpty() {return _verticesCount == 0;} - - void updateParams(); }; diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c index 5831a0ca94..653b1ad849 100644 --- a/src/modules/navigator/geofence_params.c +++ b/src/modules/navigator/geofence_params.c @@ -1,7 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index eaafa217de..2f45f22679 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * @author Thomas Gubler * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +33,9 @@ /** * @file mission_feasibility_checker.cpp * Provides checks if mission is feasible given the navigation capabilities + * + * @author Lorenz Meier + * @author Thomas Gubler */ #include "mission_feasibility_checker.h" @@ -100,8 +101,8 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss /* Check if all mission items are inside the geofence (if we have a valid geofence) */ if (geofence.valid()) { for (size_t i = 0; i < nMissionItems; i++) { - static struct mission_item_s missionitem; - const ssize_t len = sizeof(struct mission_item_s); + struct mission_item_s missionitem; + const ssize_t len = sizeof(missionitem); if (dm_read(dm_current, i, &missionitem, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ @@ -125,8 +126,8 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size for (size_t i = 0; i < nMissionItems; i++) { - static struct mission_item_s missionitem; - const ssize_t len = sizeof(struct mission_item_s); + struct mission_item_s missionitem; + const ssize_t len = sizeof(missionitem); if (dm_read(dm_current, i, &missionitem, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ return false; diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h index 7a0b2a2966..f98e284624 100644 --- a/src/modules/navigator/mission_feasibility_checker.h +++ b/src/modules/navigator/mission_feasibility_checker.h @@ -1,8 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * @author Thomas Gubler * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,7 +33,11 @@ /** * @file mission_feasibility_checker.h * Provides checks if mission is feasible given the navigation capabilities + * + * @author Lorenz Meier + * @author Thomas Gubler */ + #ifndef MISSION_FEASIBILITY_CHECKER_H_ #define MISSION_FEASIBILITY_CHECKER_H_ diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk index 55f8a4caac..6ea9dec2b2 100644 --- a/src/modules/navigator/module.mk +++ b/src/modules/navigator/module.mk @@ -45,3 +45,5 @@ SRCS = navigator_main.cpp \ geofence_params.c INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink + +MODULE_STACKSIZE = 1200 diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 16eca8d791..87c893079f 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1,10 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * @author Jean Cyr - * @author Julian Oes - * @author Anton Babushkin * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,7 +31,7 @@ * ****************************************************************************/ /** - * @file navigator_main.c + * @file navigator_main.cpp * Implementation of the main navigation state machine. * * Handles missions, geo fencing and failsafe navigation behavior. @@ -65,7 +61,6 @@ #include #include #include -#include #include #include #include @@ -178,7 +173,7 @@ private: class Mission _mission; bool _mission_item_valid; /**< current mission item valid */ - bool _global_pos_valid; /**< track changes of global_position.global_valid flag */ + bool _global_pos_valid; /**< track changes of global_position */ bool _reset_loiter_pos; /**< if true then loiter position should be set to current position */ bool _waypoint_position_reached; bool _waypoint_yaw_reached; @@ -288,9 +283,9 @@ private: static void task_main_trampoline(int argc, char *argv[]); /** - * Main sensor collection task. + * Main task. */ - void task_main() __attribute__((noreturn)); + void task_main(); void publish_safepoints(unsigned points); @@ -395,7 +390,6 @@ Navigator::Navigator() : /* publications */ _pos_sp_triplet_pub(-1), - _mission_result_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), @@ -427,7 +421,6 @@ Navigator::Navigator() : _parameter_handles.rtl_land_delay = param_find("NAV_RTL_LAND_T"); memset(&_pos_sp_triplet, 0, sizeof(struct position_setpoint_triplet_s)); - memset(&_mission_result, 0, sizeof(struct mission_result_s)); memset(&_mission_item, 0, sizeof(struct mission_item_s)); memset(&nav_states_str, 0, sizeof(nav_states_str)); @@ -513,7 +506,7 @@ Navigator::offboard_mission_update(bool isrotaryWing) { struct mission_s offboard_mission; - if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) { + if (orb_copy(ORB_ID(offboard_mission), _offboard_mission_sub, &offboard_mission) == OK) { /* Check mission feasibility, for now do not handle the return value, * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ @@ -529,13 +522,16 @@ Navigator::offboard_mission_update(bool isrotaryWing) missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence); _mission.set_offboard_dataman_id(offboard_mission.dataman_id); - _mission.set_current_offboard_mission_index(offboard_mission.current_index); + _mission.set_offboard_mission_count(offboard_mission.count); + _mission.set_current_offboard_mission_index(offboard_mission.current_index); } else { - _mission.set_current_offboard_mission_index(0); _mission.set_offboard_mission_count(0); + _mission.set_current_offboard_mission_index(0); } + + _mission.publish_mission_result(); } void @@ -543,14 +539,14 @@ Navigator::onboard_mission_update() { struct mission_s onboard_mission; - if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) { + if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) { - _mission.set_current_onboard_mission_index(onboard_mission.current_index); _mission.set_onboard_mission_count(onboard_mission.count); + _mission.set_current_onboard_mission_index(onboard_mission.current_index); } else { - _mission.set_current_onboard_mission_index(0); _mission.set_onboard_mission_count(0); + _mission.set_current_onboard_mission_index(0); } } @@ -611,7 +607,7 @@ Navigator::task_main() * do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - _offboard_mission_sub = orb_subscribe(ORB_ID(mission)); + _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); @@ -690,84 +686,56 @@ Navigator::task_main() if (fds[6].revents & POLLIN) { vehicle_status_update(); - /* evaluate state machine from commander and set the navigator mode accordingly */ + /* evaluate state requested by commander */ if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) { - bool stick_mode = false; + /* publish position setpoint triplet on each status update if navigator active */ + _pos_sp_triplet_updated = true; - if (!_vstatus.rc_signal_lost) { - /* RC signal available, use control switches to set mode */ - /* RETURN switch, overrides MISSION switch */ - if (_vstatus.return_switch == RETURN_SWITCH_RETURN) { - /* switch to RTL if not already landed after RTL and home position set */ + if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) { + /* commander requested new navigation mode, try to set it */ + switch (_vstatus.set_nav_state) { + case NAV_STATE_NONE: + /* nothing to do */ + break; + + case NAV_STATE_LOITER: + request_loiter_or_ready(); + break; + + case NAV_STATE_MISSION: + request_mission_if_available(); + break; + + case NAV_STATE_RTL: if (!(_rtl_state == RTL_STATE_DESCEND && - (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && - _vstatus.condition_home_position_valid) { + (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && + _vstatus.condition_home_position_valid) { dispatch(EVENT_RTL_REQUESTED); } - stick_mode = true; + break; - } else { - /* MISSION switch */ - if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) { - request_loiter_or_ready(); - stick_mode = true; + case NAV_STATE_LAND: + dispatch(EVENT_LAND_REQUESTED); - } else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) { - request_mission_if_available(); - stick_mode = true; - } + break; - if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) { - /* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */ - request_mission_if_available(); - stick_mode = true; - } + default: + warnx("ERROR: Requested navigation state not supported"); + break; + } + + } else { + /* on first switch to AUTO try mission by default, if none is available fallback to loiter */ + if (myState == NAV_STATE_NONE) { + request_mission_if_available(); } } - if (!stick_mode) { - if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) { - /* commander requested new navigation mode, try to set it */ - _set_nav_state_timestamp = _vstatus.set_nav_state_timestamp; - - switch (_vstatus.set_nav_state) { - case NAV_STATE_NONE: - /* nothing to do */ - break; - - case NAV_STATE_LOITER: - request_loiter_or_ready(); - break; - - case NAV_STATE_MISSION: - request_mission_if_available(); - break; - - case NAV_STATE_RTL: - if (!(_rtl_state == RTL_STATE_DESCEND && - (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) && - _vstatus.condition_home_position_valid) { - dispatch(EVENT_RTL_REQUESTED); - } - - break; - - case NAV_STATE_LAND: - dispatch(EVENT_LAND_REQUESTED); - - break; - - default: - warnx("ERROR: Requested navigation state not supported"); - break; - } - - } else { - /* on first switch to AUTO try mission by default, if none is available fallback to loiter */ - if (myState == NAV_STATE_NONE) { - request_mission_if_available(); - } + /* check if waypoint has been reached in MISSION, RTL and LAND modes */ + if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL || myState == NAV_STATE_LAND) { + if (check_mission_item_reached()) { + on_mission_item_reached(); } } @@ -775,6 +743,8 @@ Navigator::task_main() /* navigator shouldn't act */ dispatch(EVENT_NONE_REQUESTED); } + + _set_nav_state_timestamp = _vstatus.set_nav_state_timestamp; } /* parameters updated */ @@ -813,17 +783,15 @@ Navigator::task_main() if (fds[1].revents & POLLIN) { global_position_update(); - /* publish position setpoint triplet on each position update if navigator active */ if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) { + /* publish position setpoint triplet on each position update if navigator active */ _pos_sp_triplet_updated = true; - if (myState == NAV_STATE_LAND && _global_pos.global_valid && !_global_pos_valid) { + if (myState == NAV_STATE_LAND && !_global_pos_valid) { /* got global position when landing, update setpoint */ start_land(); } - _global_pos_valid = _global_pos.global_valid; - /* check if waypoint has been reached in MISSION, RTL and LAND modes */ if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL || myState == NAV_STATE_LAND) { if (check_mission_item_reached()) { @@ -848,6 +816,8 @@ Navigator::task_main() } } + _global_pos_valid = _vstatus.condition_global_position_valid; + /* publish position setpoint triplet if updated */ if (_pos_sp_triplet_updated) { _pos_sp_triplet_updated = false; @@ -878,7 +848,7 @@ Navigator::start() _navigator_task = task_spawn_cmd("navigator", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2048, + 2000, (main_t)&Navigator::task_main_trampoline, nullptr); @@ -893,9 +863,9 @@ Navigator::start() void Navigator::status() { - warnx("Global position is %svalid", _global_pos.global_valid ? "" : "in"); + warnx("Global position: %svalid", _global_pos_valid ? "" : "in"); - if (_global_pos.global_valid) { + if (_global_pos_valid) { warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat); warnx("Altitude %5.5f meters, altitude above home %5.5f meters", (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt)); @@ -1112,6 +1082,8 @@ Navigator::set_mission_item() ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index); if (ret == OK) { + _mission.report_current_offboard_mission_item(); + _mission_item_valid = true; position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item); @@ -1315,7 +1287,7 @@ Navigator::set_rtl_item() _mission_item.yaw = NAN; _mission_item.loiter_radius = _parameters.loiter_radius; _mission_item.loiter_direction = 1; - _mission_item.nav_cmd = NAV_CMD_TAKEOFF; + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; _mission_item.acceptance_radius = _parameters.acceptance_radius; _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; @@ -1375,7 +1347,7 @@ Navigator::set_rtl_item() _mission_item.yaw = NAN; _mission_item.loiter_radius = _parameters.loiter_radius; _mission_item.loiter_direction = 1; - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; _mission_item.acceptance_radius = _parameters.acceptance_radius; _mission_item.time_inside = _parameters.rtl_land_delay < 0.0f ? 0.0f : _parameters.rtl_land_delay; _mission_item.pitch_min = 0.0f; @@ -1537,7 +1509,7 @@ Navigator::check_mission_item_reached() /* check yaw if defined only for rotary wing except takeoff */ float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw); - if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */ + if (fabsf(yaw_err) < 0.2f) { /* XXX get rid of magic number */ _waypoint_yaw_reached = true; } @@ -1581,6 +1553,9 @@ void Navigator::on_mission_item_reached() { if (myState == NAV_STATE_MISSION) { + + _mission.report_mission_item_reached(); + if (_do_takeoff) { /* takeoff completed */ _do_takeoff = false; @@ -1627,6 +1602,7 @@ Navigator::on_mission_item_reached() mavlink_log_info(_mavlink_fd, "[navigator] landing completed"); dispatch(EVENT_READY_REQUESTED); } + _mission.publish_mission_result(); } void diff --git a/src/modules/navigator/navigator_mission.cpp b/src/modules/navigator/navigator_mission.cpp index e72caf98e9..49fc627850 100644 --- a/src/modules/navigator/navigator_mission.cpp +++ b/src/modules/navigator/navigator_mission.cpp @@ -1,7 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: @author Julian Oes * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,15 +33,16 @@ /** * @file navigator_mission.cpp * Helper class to access missions + * + * @author Julian Oes */ -// #include -// #include -// #include -// #include - +#include #include #include +#include +#include +#include #include "navigator_mission.h" /* oddly, ERROR is not defined for c++ */ @@ -60,8 +60,11 @@ Mission::Mission() : _offboard_mission_item_count(0), _onboard_mission_item_count(0), _onboard_mission_allowed(false), - _current_mission_type(MISSION_TYPE_NONE) -{} + _current_mission_type(MISSION_TYPE_NONE), + _mission_result_pub(-1) +{ + memset(&_mission_result, 0, sizeof(struct mission_result_s)); +} Mission::~Mission() { @@ -78,8 +81,16 @@ void Mission::set_current_offboard_mission_index(int new_index) { if (new_index != -1) { + warnx("specifically set to %d", new_index); _current_offboard_mission_index = (unsigned)new_index; + } else { + + /* if less WPs available, reset to first WP */ + if (_current_offboard_mission_index >= _offboard_mission_item_count) { + _current_offboard_mission_index = 0; + } } + report_current_offboard_mission_item(); } void @@ -87,7 +98,15 @@ Mission::set_current_onboard_mission_index(int new_index) { if (new_index != -1) { _current_onboard_mission_index = (unsigned)new_index; + } else { + + /* if less WPs available, reset to first WP */ + if (_current_onboard_mission_index >= _onboard_mission_item_count) { + _current_onboard_mission_index = 0; + } } + // TODO: implement this for onboard missions as well + // report_current_mission_item(); } void @@ -266,4 +285,35 @@ Mission::move_to_next() default: break; } -} \ No newline at end of file +} + +void +Mission::report_mission_item_reached() +{ + if (_current_mission_type == MISSION_TYPE_OFFBOARD) { + _mission_result.mission_reached = true; + _mission_result.mission_index_reached = _current_offboard_mission_index; + } +} + +void +Mission::report_current_offboard_mission_item() +{ + _mission_result.index_current_mission = _current_offboard_mission_index; +} + +void +Mission::publish_mission_result() +{ + /* lazily publish the mission result only once available */ + if (_mission_result_pub > 0) { + /* publish mission result */ + orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result); + + } else { + /* advertise and publish */ + _mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result); + } + /* reset reached bool */ + _mission_result.mission_reached = false; +} diff --git a/src/modules/navigator/navigator_mission.h b/src/modules/navigator/navigator_mission.h index 15d4e86bfb..b0f88e0161 100644 --- a/src/modules/navigator/navigator_mission.h +++ b/src/modules/navigator/navigator_mission.h @@ -1,7 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: @author Julian Oes * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,12 +33,15 @@ /** * @file navigator_mission.h * Helper class to access missions + * + * @author Julian Oes */ #ifndef NAVIGATOR_MISSION_H #define NAVIGATOR_MISSION_H #include +#include class __EXPORT Mission @@ -71,7 +73,9 @@ public: void move_to_next(); - void add_home_pos(struct mission_item_s *new_mission_item); + void report_mission_item_reached(); + void report_current_offboard_mission_item(); + void publish_mission_result(); private: bool current_onboard_mission_available(); @@ -92,6 +96,10 @@ private: MISSION_TYPE_ONBOARD, MISSION_TYPE_OFFBOARD, } _current_mission_type; + + int _mission_result_pub; + + struct mission_result_s _mission_result; }; -#endif \ No newline at end of file +#endif diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index 9ef359c6dc..5139283b62 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -1,9 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * @author Julian Oes - * @author Anton Babushkin * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/navigator/navigator_state.h b/src/modules/navigator/navigator_state.h index 6a1475c9b0..476f934148 100644 --- a/src/modules/navigator/navigator_state.h +++ b/src/modules/navigator/navigator_state.h @@ -1,8 +1,42 @@ -/* - * navigator_state.h +/**************************************************************************** * - * Created on: 27.01.2014 - * Author: ton + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * 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 navigator_state.h + * + * Navigator state + * + * @author Anton Babushkin */ #ifndef NAVIGATOR_STATE_H_ diff --git a/src/modules/position_estimator/position_estimator_main.c b/src/modules/position_estimator/position_estimator_main.c deleted file mode 100644 index e849452993..0000000000 --- a/src/modules/position_estimator/position_estimator_main.c +++ /dev/null @@ -1,423 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli - * Thomas Gubler - * Julian Oes - * Lorenz Meier - * - * 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 position_estimator_main.c - * Model-identification based position estimator for multirotors - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#define N_STATES 6 -#define ERROR_COVARIANCE_INIT 3 -#define R_EARTH 6371000.0 - -#define PROJECTION_INITIALIZE_COUNTER_LIMIT 5000 -#define REPROJECTION_COUNTER_LIMIT 125 - -__EXPORT int position_estimator_main(int argc, char *argv[]); - -static uint16_t position_estimator_counter_position_information; - -/* values for map projection */ -static double phi_1; -static double sin_phi_1; -static double cos_phi_1; -static double lambda_0; -static double scale; - -/** - * Initializes the map transformation. - * - * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane - * @param lat in degrees (47.1234567°, not 471234567°) - * @param lon in degrees (8.1234567°, not 81234567°) - */ -static void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 -{ - /* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - phi_1 = lat_0 / 180.0 * M_PI; - lambda_0 = lon_0 / 180.0 * M_PI; - - sin_phi_1 = sin(phi_1); - cos_phi_1 = cos(phi_1); - - /* calculate local scale by using the relation of true distance and the distance on plane */ //TODO: this is a quick solution, there are probably easier ways to determine the scale - - /* 1) calculate true distance d on sphere to a point: http://www.movable-type.co.uk/scripts/latlong.html */ - const double r_earth = 6371000; - - double lat1 = phi_1; - double lon1 = lambda_0; - - double lat2 = phi_1 + 0.5 / 180 * M_PI; - double lon2 = lambda_0 + 0.5 / 180 * M_PI; - double sin_lat_2 = sin(lat2); - double cos_lat_2 = cos(lat2); - double d = acos(sin(lat1) * sin_lat_2 + cos(lat1) * cos_lat_2 * cos(lon2 - lon1)) * r_earth; - - /* 2) calculate distance rho on plane */ - double k_bar = 0; - double c = acos(sin_phi_1 * sin_lat_2 + cos_phi_1 * cos_lat_2 * cos(lon2 - lambda_0)); - - if (0 != c) - k_bar = c / sin(c); - - double x2 = k_bar * (cos_lat_2 * sin(lon2 - lambda_0)); //Projection of point 2 on plane - double y2 = k_bar * ((cos_phi_1 * sin_lat_2 - sin_phi_1 * cos_lat_2 * cos(lon2 - lambda_0))); - double rho = sqrt(pow(x2, 2) + pow(y2, 2)); - - scale = d / rho; - -} - -/** - * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane - * @param x north - * @param y east - * @param lat in degrees (47.1234567°, not 471234567°) - * @param lon in degrees (8.1234567°, not 81234567°) - */ -static void map_projection_project(double lat, double lon, float *x, float *y) -{ - /* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - double phi = lat / 180.0 * M_PI; - double lambda = lon / 180.0 * M_PI; - - double sin_phi = sin(phi); - double cos_phi = cos(phi); - - double k_bar = 0; - /* using small angle approximation (formula in comment is without aproximation) */ - double c = acos(sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2)); //double c = acos( sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * cos(lambda - lambda_0) ); - - if (0 != c) - k_bar = c / sin(c); - - /* using small angle approximation (formula in comment is without aproximation) */ - *y = k_bar * (cos_phi * (lambda - lambda_0)) * scale;//*y = k_bar * (cos_phi * sin(lambda - lambda_0)) * scale; - *x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2))) * scale; // *x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * cos(lambda - lambda_0))) * scale; - -// printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0); -} - -/** - * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system - * - * @param x north - * @param y east - * @param lat in degrees (47.1234567°, not 471234567°) - * @param lon in degrees (8.1234567°, not 81234567°) - */ -static void map_projection_reproject(float x, float y, double *lat, double *lon) -{ - /* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - - double x_descaled = x / scale; - double y_descaled = y / scale; - - double c = sqrt(pow(x_descaled, 2) + pow(y_descaled, 2)); - double sin_c = sin(c); - double cos_c = cos(c); - - double lat_sphere = 0; - - if (c != 0) - lat_sphere = asin(cos_c * sin_phi_1 + (x_descaled * sin_c * cos_phi_1) / c); - else - lat_sphere = asin(cos_c * sin_phi_1); - -// printf("lat_sphere = %.10f\n",lat_sphere); - - double lon_sphere = 0; - - if (phi_1 == M_PI / 2) { - //using small angle approximation (formula in comment is without aproximation) - lon_sphere = (lambda_0 - y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(-y_descaled, x_descaled)); - - } else if (phi_1 == -M_PI / 2) { - //using small angle approximation (formula in comment is without aproximation) - lon_sphere = (lambda_0 + y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(y_descaled, x_descaled)); - - } else { - - lon_sphere = (lambda_0 + atan2(y_descaled * sin_c , c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c)); - //using small angle approximation -// double denominator = (c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c); -// if(denominator != 0) -// { -// lon_sphere = (lambda_0 + (y_descaled * sin_c) / denominator); -// } -// else -// { -// ... -// } - } - -// printf("lon_sphere = %.10f\n",lon_sphere); - - *lat = lat_sphere * 180.0 / M_PI; - *lon = lon_sphere * 180.0 / M_PI; - -} - -/**************************************************************************** - * main - ****************************************************************************/ - -int position_estimator_main(int argc, char *argv[]) -{ - - /* welcome user */ - printf("[multirotor position_estimator] started\n"); - - /* initialize values */ - static float u[2] = {0, 0}; - static float z[3] = {0, 0, 0}; - static float xapo[N_STATES] = {0, 0, 0, 0, 0, 0}; - static float Papo[N_STATES * N_STATES] = {ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0 - }; - - static float xapo1[N_STATES]; - static float Papo1[36]; - - static float gps_covariance[3] = {0.0f, 0.0f, 0.0f}; - - static uint16_t counter = 0; - position_estimator_counter_position_information = 0; - - uint8_t predict_only = 1; - - bool gps_valid = false; - - bool new_initialization = true; - - static double lat_current = 0.0d;//[°]] --> 47.0 - static double lon_current = 0.0d; //[°]] -->8.5 - float alt_current = 0.0f; - - - //TODO: handle flight without gps but with estimator - - /* subscribe to vehicle status, attitude, gps */ - struct vehicle_gps_position_s gps; - gps.fix_type = 0; - struct vehicle_status_s vstatus; - struct vehicle_attitude_s att; - - int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); - - /* subscribe to attitude at 100 Hz */ - int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - - /* wait until gps signal turns valid, only then can we initialize the projection */ - while (gps.fix_type < 3) { - struct pollfd fds[1] = { {.fd = vehicle_gps_sub, .events = POLLIN} }; - - /* wait for GPS updates, BUT READ VEHICLE STATUS (!) - * this choice is critical, since the vehicle status might not - * actually change, if this app is started after GPS lock was - * aquired. - */ - if (poll(fds, 1, 5000)) { - /* Wait for the GPS update to propagate (we have some time) */ - usleep(5000); - /* Read wether the vehicle status changed */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - gps_valid = (gps.fix_type > 2); - } - } - - /* get gps value for first initialization */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - lat_current = ((double)(gps.lat)) * 1e-7; - lon_current = ((double)(gps.lon)) * 1e-7; - alt_current = gps.alt * 1e-3; - - /* initialize coordinates */ - map_projection_init(lat_current, lon_current); - - /* publish global position messages only after first GPS message */ - struct vehicle_local_position_s local_pos = { - .x = 0, - .y = 0, - .z = 0 - }; - orb_advert_t local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos); - - printf("[multirotor position estimator] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current); - - while (1) { - - /*This runs at the rate of the sensors, if we have also a new gps update this is used in the position_estimator function */ - struct pollfd fds[1] = { {.fd = vehicle_attitude_sub, .events = POLLIN} }; - - if (poll(fds, 1, 5000) <= 0) { - /* error / timeout */ - } else { - - orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); - /* got attitude, updating pos as well */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); - - /*copy attitude */ - u[0] = att.roll; - u[1] = att.pitch; - - /* initialize map projection with the last estimate (not at full rate) */ - if (gps.fix_type > 2) { - /* Project gps lat lon (Geographic coordinate system) to plane*/ - map_projection_project(((double)(gps.lat)) * 1e-7, ((double)(gps.lon)) * 1e-7, &(z[0]), &(z[1])); - - local_pos.x = z[0]; - local_pos.y = z[1]; - /* negative offset from initialization altitude */ - local_pos.z = alt_current - (gps.alt) * 1e-3; - - - orb_publish(ORB_ID(vehicle_local_position), local_pos_pub, &local_pos); - } - - - // gps_covariance[0] = gps.eph; //TODO: needs scaling - // gps_covariance[1] = gps.eph; - // gps_covariance[2] = gps.epv; - - // } else { - // /* we can not use the gps signal (it is of low quality) */ - // predict_only = 1; - // } - - // // predict_only = 0; //TODO: only for testing, removeme, XXX - // // z[0] = sinf(((float)counter)/180.0f*3.14159265f); //TODO: only for testing, removeme, XXX - // // usleep(100000); //TODO: only for testing, removeme, XXX - - - // /*Get new estimation (this is calculated in the plane) */ - // //TODO: if new_initialization == true: use 0,0,0, else use xapo - // if (true == new_initialization) { //TODO,XXX: uncomment! - // xapo[0] = 0; //we have a new plane initialization. the current estimate is in the center of the plane - // xapo[2] = 0; - // xapo[4] = 0; - // position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1); - - // } else { - // position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1); - // } - - - - // /* Copy values from xapo1 to xapo */ - // int i; - - // for (i = 0; i < N_STATES; i++) { - // xapo[i] = xapo1[i]; - // } - - // if ((counter % REPROJECTION_COUNTER_LIMIT == 0) || (counter % (PROJECTION_INITIALIZE_COUNTER_LIMIT - 1) == 0)) { - // /* Reproject from plane to geographic coordinate system */ - // // map_projection_reproject(xapo1[0], xapo1[2], map_scale, phi_1, lambda_0, &lat_current, &lon_current) //TODO,XXX: uncomment! - // map_projection_reproject(z[0], z[1], &lat_current, &lon_current); //do not use estimator for projection testing, removeme - // // //DEBUG - // // if(counter%500 == 0) - // // { - // // printf("phi_1: %.10f\n", phi_1); - // // printf("lambda_0: %.10f\n", lambda_0); - // // printf("lat_estimated: %.10f\n", lat_current); - // // printf("lon_estimated: %.10f\n", lon_current); - // // printf("z[0]=%.10f, z[1]=%.10f, z[2]=%f\n", z[0], z[1], z[2]); - // // fflush(stdout); - // // - // // } - - // // if(!isnan(lat_current) && !isnan(lon_current))// && !isnan(xapo1[4]) && !isnan(xapo1[1]) && !isnan(xapo1[3]) && !isnan(xapo1[5])) - // // { - // /* send out */ - - // global_pos.lat = lat_current; - // global_pos.lon = lon_current; - // global_pos.alt = xapo1[4]; - // global_pos.vx = xapo1[1]; - // global_pos.vy = xapo1[3]; - // global_pos.vz = xapo1[5]; - - /* publish current estimate */ - // orb_publish(ORB_ID(vehicle_global_position), global_pos_pub, &global_pos); - // } - // else - // { - // printf("[position estimator] ERROR: nan values, lat_current=%.4f, lon_current=%.4f, z[0]=%.4f z[1]=%.4f\n", lat_current, lon_current, z[0], z[1]); - // fflush(stdout); - // } - - // } - - counter++; - } - - } - - return 0; -} - - diff --git a/src/modules/position_estimator_inav/inertial_filter.c b/src/modules/position_estimator_inav/inertial_filter.c index 13328edb4b..2f1b3c0145 100644 --- a/src/modules/position_estimator_inav/inertial_filter.c +++ b/src/modules/position_estimator_inav/inertial_filter.c @@ -5,27 +5,30 @@ * Author: Anton Babushkin */ +#include + #include "inertial_filter.h" void inertial_filter_predict(float dt, float x[3]) { - x[0] += x[1] * dt + x[2] * dt * dt / 2.0f; - x[1] += x[2] * dt; + if (isfinite(dt)) { + x[0] += x[1] * dt + x[2] * dt * dt / 2.0f; + x[1] += x[2] * dt; + } } void inertial_filter_correct(float e, float dt, float x[3], int i, float w) { - float ewdt = w * dt; - if (ewdt > 1.0f) - ewdt = 1.0f; // prevent over-correcting - ewdt *= e; - x[i] += ewdt; + if (isfinite(e) && isfinite(w) && isfinite(dt)) { + float ewdt = e * w * dt; + x[i] += ewdt; - if (i == 0) { - x[1] += w * ewdt; - x[2] += w * w * ewdt / 3.0; + if (i == 0) { + x[1] += w * ewdt; + x[2] += w * w * ewdt / 3.0; - } else if (i == 1) { - x[2] += w * ewdt; + } else if (i == 1) { + x[2] += w * ewdt; + } } } diff --git a/src/modules/position_estimator_inav/module.mk b/src/modules/position_estimator_inav/module.mk index 939d768495..0658d3f09c 100644 --- a/src/modules/position_estimator_inav/module.mk +++ b/src/modules/position_estimator_inav/module.mk @@ -39,3 +39,5 @@ MODULE_COMMAND = position_estimator_inav SRCS = position_estimator_inav_main.c \ position_estimator_inav_params.c \ inertial_filter.c + +MODULE_STACKSIZE = 1200 diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index d6d03367b6..d8d0ff37d3 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 Anton Babushkin. All rights reserved. - * Author: Anton Babushkin + * Copyright (C) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +34,8 @@ /** * @file position_estimator_inav_main.c * Model-identification based position estimator for multirotors + * + * @author Anton Babushkin */ #include @@ -57,6 +58,7 @@ #include #include #include +#include #include #include #include @@ -95,8 +97,9 @@ static void usage(const char *reason); */ static void usage(const char *reason) { - if (reason) + if (reason) { fprintf(stderr, "%s\n", reason); + } fprintf(stderr, "usage: position_estimator_inav {start|stop|status} [-v]\n\n"); exit(1); @@ -112,8 +115,9 @@ static void usage(const char *reason) */ int position_estimator_inav_main(int argc, char *argv[]) { - if (argc < 1) + if (argc < 1) { usage("missing command"); + } if (!strcmp(argv[1], "start")) { if (thread_running) { @@ -125,12 +129,13 @@ int position_estimator_inav_main(int argc, char *argv[]) verbose_mode = false; if (argc > 1) - if (!strcmp(argv[2], "-v")) + if (!strcmp(argv[2], "-v")) { verbose_mode = true; + } thread_should_exit = false; position_estimator_inav_task = task_spawn_cmd("position_estimator_inav", - SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096, + SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4000, position_estimator_inav_thread_main, (argv) ? (const char **) &argv[2] : (const char **) NULL); exit(0); @@ -163,16 +168,19 @@ int position_estimator_inav_main(int argc, char *argv[]) exit(1); } -void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v) { +void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float x_est_prev[3], float y_est_prev[3], float z_est_prev[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v) +{ FILE *f = fopen("/fs/microsd/inav.log", "a"); + if (f) { char *s = malloc(256); - unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2]); + unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f] x_est_prev=[%.5f %.5f %.5f] y_est_prev=[%.5f %.5f %.5f] z_est_prev=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2], x_est_prev[0], x_est_prev[1], x_est_prev[2], y_est_prev[0], y_est_prev[1], y_est_prev[2], z_est_prev[0], z_est_prev[1], z_est_prev[2]); fwrite(s, 1, n, f); n = snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v); fwrite(s, 1, n, f); free(s); } + fsync(fileno(f)); fclose(f); } @@ -191,6 +199,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float y_est[3] = { 0.0f, 0.0f, 0.0f }; float z_est[3] = { 0.0f, 0.0f, 0.0f }; + float x_est_prev[3], y_est_prev[3], z_est_prev[3]; + memset(x_est_prev, 0, sizeof(x_est_prev)); + memset(y_est_prev, 0, sizeof(y_est_prev)); + memset(z_est_prev, 0, sizeof(z_est_prev)); + int baro_init_cnt = 0; int baro_init_num = 200; float baro_offset = 0.0f; // baro offset for reference altitude, initialized on start, then adjusted @@ -200,12 +213,15 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) bool landed = true; hrt_abstime landed_time = 0; - uint32_t accel_counter = 0; - uint32_t baro_counter = 0; + hrt_abstime accel_timestamp = 0; + hrt_abstime baro_timestamp = 0; bool ref_inited = false; hrt_abstime ref_init_start = 0; const hrt_abstime ref_init_delay = 1000000; // wait for 1s after 3D fix + struct map_projection_reference_s ref; + memset(&ref, 0, sizeof(ref)); + hrt_abstime home_timestamp = 0; uint16_t accel_updates = 0; uint16_t baro_updates = 0; @@ -238,7 +254,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float corr_flow[] = { 0.0f, 0.0f }; // N E float w_flow = 0.0f; + static float min_eph_epv = 2.0f; // min EPH/EPV, used for weight calculation + static float max_eph_epv = 10.0f; // max EPH/EPV acceptable for estimation + float sonar_prev = 0.0f; + hrt_abstime flow_prev = 0; // time of last flow measurement hrt_abstime sonar_time = 0; // time of last sonar measurement (not filtered) hrt_abstime sonar_valid_time = 0; // time of last sonar measurement used for correction (filtered) hrt_abstime xy_src_time = 0; // time of last available position data @@ -257,6 +277,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) memset(&sensor, 0, sizeof(sensor)); struct vehicle_gps_position_s gps; memset(&gps, 0, sizeof(gps)); + struct home_position_s home; + memset(&home, 0, sizeof(home)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); struct vehicle_local_position_s local_pos; @@ -274,10 +296,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); int optical_flow_sub = orb_subscribe(ORB_ID(optical_flow)); int vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + int home_position_sub = orb_subscribe(ORB_ID(home_position)); /* advertise */ orb_advert_t vehicle_local_position_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos); - orb_advert_t vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos); + orb_advert_t vehicle_global_position_pub = -1; struct position_estimator_inav_params params; struct position_estimator_inav_param_handles pos_inav_param_handles; @@ -310,8 +333,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (fds_init[0].revents & POLLIN) { orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - if (wait_baro && sensor.baro_counter != baro_counter) { - baro_counter = sensor.baro_counter; + if (wait_baro && sensor.baro_timestamp != baro_timestamp) { + baro_timestamp = sensor.baro_timestamp; /* mean calculation over several measurements */ if (baro_init_cnt < baro_init_num) { @@ -325,7 +348,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", baro_offset); local_pos.z_valid = true; local_pos.v_z_valid = true; - global_pos.baro_valid = true; } } } @@ -384,7 +406,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - if (sensor.accelerometer_counter != accel_counter) { + if (sensor.accelerometer_timestamp != accel_timestamp) { if (att.R_valid) { /* correct accel bias */ sensor.accelerometer_m_s2[0] -= acc_bias[0]; @@ -408,13 +430,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) memset(corr_acc, 0, sizeof(corr_acc)); } - accel_counter = sensor.accelerometer_counter; + accel_timestamp = sensor.accelerometer_timestamp; accel_updates++; } - if (sensor.baro_counter != baro_counter) { + if (sensor.baro_timestamp != baro_timestamp) { corr_baro = baro_offset - sensor.baro_alt_meter - z_est[0]; - baro_counter = sensor.baro_counter; + baro_timestamp = sensor.baro_timestamp; baro_updates++; } } @@ -425,6 +447,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow); + /* calculate time from previous update */ + float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f; + flow_prev = flow.flow_timestamp; + if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7 && flow.ground_distance_m != sonar_prev) { sonar_time = t; sonar_prev = flow.ground_distance_m; @@ -475,10 +501,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) flow_accurate = fabsf(body_v_est[1] / flow_dist - att.rollspeed) < max_flow && fabsf(body_v_est[0] / flow_dist + att.pitchspeed) < max_flow; - /* convert raw flow to angular flow */ + /* convert raw flow to angular flow (rad/s) */ float flow_ang[2]; - flow_ang[0] = flow.flow_raw_x * params.flow_k; - flow_ang[1] = flow.flow_raw_y * params.flow_k; + flow_ang[0] = flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt; + flow_ang[1] = flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt; /* flow measurements vector */ float flow_m[3]; flow_m[0] = -flow_ang[0] * flow_dist; @@ -503,8 +529,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* if flow is not accurate, reduce weight for it */ // TODO make this more fuzzy - if (!flow_accurate) + if (!flow_accurate) { w_flow *= 0.05f; + } flow_valid = true; @@ -516,32 +543,73 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) flow_updates++; } + /* home position */ + orb_check(home_position_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(home_position), home_position_sub, &home); + + if (home.timestamp != home_timestamp) { + home_timestamp = home.timestamp; + + double est_lat, est_lon; + float est_alt; + + if (ref_inited) { + /* calculate current estimated position in global frame */ + est_alt = local_pos.ref_alt - local_pos.z; + map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon); + } + + /* update reference */ + map_projection_init(&ref, home.lat, home.lon); + + /* update baro offset */ + baro_offset += home.alt - local_pos.ref_alt; + + local_pos.ref_lat = home.lat; + local_pos.ref_lon = home.lon; + local_pos.ref_alt = home.alt; + local_pos.ref_timestamp = home.timestamp; + + if (ref_inited) { + /* reproject position estimate with new reference */ + map_projection_project(&ref, est_lat, est_lon, &x_est[0], &y_est[0]); + z_est[0] = -(est_alt - local_pos.ref_alt); + } + + ref_inited = true; + } + } + /* vehicle GPS position */ orb_check(vehicle_gps_position_sub, &updated); if (updated) { orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps); - if (gps.fix_type >= 3) { - /* hysteresis for GPS quality */ - if (gps_valid) { - if (gps.eph_m > 10.0f || gps.epv_m > 20.0f) { - gps_valid = false; - mavlink_log_info(mavlink_fd, "[inav] GPS signal lost"); - } + bool reset_est = false; - } else { - if (gps.eph_m < 5.0f && gps.epv_m < 10.0f) { - gps_valid = true; - mavlink_log_info(mavlink_fd, "[inav] GPS signal found"); - } + /* hysteresis for GPS quality */ + if (gps_valid) { + if (gps.eph_m > max_eph_epv * 1.5f || gps.epv_m > max_eph_epv * 1.5f || gps.fix_type < 3) { + gps_valid = false; + mavlink_log_info(mavlink_fd, "[inav] GPS signal lost"); } } else { - gps_valid = false; + if (gps.eph_m < max_eph_epv && gps.epv_m < max_eph_epv && gps.fix_type >= 3) { + gps_valid = true; + reset_est = true; + mavlink_log_info(mavlink_fd, "[inav] GPS signal found"); + } } if (gps_valid) { + double lat = gps.lat * 1e-7; + double lon = gps.lon * 1e-7; + float alt = gps.alt * 1e-3; + /* initialize reference position if needed */ if (!ref_inited) { if (ref_init_start == 0) { @@ -549,18 +617,25 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } else if (t > ref_init_start + ref_init_delay) { ref_inited = true; - /* reference GPS position */ - double lat = gps.lat * 1e-7; - double lon = gps.lon * 1e-7; - float alt = gps.alt * 1e-3; + /* update baro offset */ + baro_offset -= z_est[0]; - local_pos.ref_lat = gps.lat; - local_pos.ref_lon = gps.lon; - local_pos.ref_alt = alt + z_est[0]; + /* set position estimate to (0, 0, 0), use GPS velocity for XY */ + x_est[0] = 0.0f; + x_est[1] = gps.vel_n_m_s; + x_est[2] = accel_NED[0]; + y_est[0] = 0.0f; + y_est[1] = gps.vel_e_m_s; + z_est[0] = 0.0f; + y_est[2] = accel_NED[1]; + + local_pos.ref_lat = lat; + local_pos.ref_lon = lon; + local_pos.ref_alt = alt; local_pos.ref_timestamp = t; /* initialize projection */ - map_projection_init(lat, lon); + map_projection_init(&ref, lat, lon); warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt); mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt); } @@ -569,11 +644,22 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (ref_inited) { /* project GPS lat lon to plane */ float gps_proj[2]; - map_projection_project(gps.lat * 1e-7, gps.lon * 1e-7, &(gps_proj[0]), &(gps_proj[1])); + map_projection_project(&ref, lat, lon, &(gps_proj[0]), &(gps_proj[1])); + + /* reset position estimate when GPS becomes good */ + if (reset_est) { + x_est[0] = gps_proj[0]; + x_est[1] = gps.vel_n_m_s; + x_est[2] = accel_NED[0]; + y_est[0] = gps_proj[1]; + y_est[1] = gps.vel_e_m_s; + y_est[2] = accel_NED[1]; + } + /* calculate correction for position */ corr_gps[0][0] = gps_proj[0] - x_est[0]; corr_gps[1][0] = gps_proj[1] - y_est[0]; - corr_gps[2][0] = local_pos.ref_alt - gps.alt * 1e-3 - z_est[0]; + corr_gps[2][0] = local_pos.ref_alt - alt - z_est[0]; /* calculate correction for velocity */ if (gps.vel_ned_valid) { @@ -587,8 +673,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) corr_gps[2][1] = 0.0f; } - w_gps_xy = 2.0f / fmaxf(2.0f, gps.eph_m); - w_gps_z = 4.0f / fmaxf(4.0f, gps.epv_m); + w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph_m); + w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv_m); } } else { @@ -623,7 +709,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } float dt = t_prev > 0 ? (t - t_prev) / 1000000.0f : 0.0f; - dt = fmaxf(fminf(0.02, dt), 0.005); + dt = fmaxf(fminf(0.02, dt), 0.002); // constrain dt from 2 to 20 ms t_prev = t; /* use GPS if it's valid and reference position initialized */ @@ -704,23 +790,34 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* inertial filter prediction for altitude */ inertial_filter_predict(dt, z_est); + if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) { + write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + memcpy(z_est, z_est_prev, sizeof(z_est)); + } + /* inertial filter correction for altitude */ inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro); inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p); inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc); - float x_est_prev[3], y_est_prev[3]; + if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) { + write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + memcpy(z_est, z_est_prev, sizeof(z_est)); + memset(corr_acc, 0, sizeof(corr_acc)); + memset(corr_gps, 0, sizeof(corr_gps)); + corr_baro = 0; - memcpy(x_est_prev, x_est, sizeof(x_est)); - memcpy(y_est_prev, y_est, sizeof(y_est)); + } else { + memcpy(z_est_prev, z_est, sizeof(z_est)); + } if (can_estimate_xy) { /* inertial filter prediction for position */ inertial_filter_predict(dt, x_est); inertial_filter_predict(dt, y_est); - if (!isfinite(x_est[0]) || !isfinite(y_est[0])) { - write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) { + write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); memcpy(x_est, x_est_prev, sizeof(x_est)); memcpy(y_est, y_est_prev, sizeof(y_est)); } @@ -744,13 +841,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } } - if (!isfinite(x_est[0]) || !isfinite(y_est[0])) { - write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) { + write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); memcpy(x_est, x_est_prev, sizeof(x_est)); memcpy(y_est, y_est_prev, sizeof(y_est)); memset(corr_acc, 0, sizeof(corr_acc)); memset(corr_gps, 0, sizeof(corr_gps)); memset(corr_flow, 0, sizeof(corr_flow)); + + } else { + memcpy(x_est_prev, x_est, sizeof(x_est)); + memcpy(y_est_prev, y_est, sizeof(y_est)); } } @@ -763,7 +864,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float thrust = armed.armed ? actuator.control[3] : 0.0f; if (landed) { - if (alt_disp2 > land_disp2 && thrust > params.land_thr) { + if (alt_disp2 > land_disp2 || thrust > params.land_thr) { landed = false; landed_time = 0; } @@ -808,7 +909,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (t > pub_last + pub_interval) { pub_last = t; /* publish local position */ - local_pos.xy_valid = can_estimate_xy && use_gps_xy; + local_pos.xy_valid = can_estimate_xy; local_pos.v_xy_valid = can_estimate_xy; local_pos.xy_global = local_pos.xy_valid && use_gps_xy; local_pos.z_global = local_pos.z_valid && use_gps_z; @@ -831,40 +932,35 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos); - /* publish global position */ - global_pos.global_valid = local_pos.xy_global; + if (local_pos.xy_global && local_pos.z_global) { + /* publish global position */ + global_pos.timestamp = t; + global_pos.time_gps_usec = gps.time_gps_usec; - if (local_pos.xy_global) { double est_lat, est_lon; - map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon); + map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon); + global_pos.lat = est_lat; global_pos.lon = est_lon; - global_pos.time_gps_usec = gps.time_gps_usec; - } + global_pos.alt = local_pos.ref_alt - local_pos.z; - /* set valid values even if position is not valid */ - if (local_pos.v_xy_valid) { global_pos.vel_n = local_pos.vx; global_pos.vel_e = local_pos.vy; - } - - if (local_pos.z_global) { - global_pos.alt = local_pos.ref_alt - local_pos.z; - } - - if (local_pos.z_valid) { - global_pos.baro_alt = baro_offset - local_pos.z; - } - - if (local_pos.v_z_valid) { global_pos.vel_d = local_pos.vz; + + global_pos.yaw = local_pos.yaw; + + // TODO implement dead-reckoning + global_pos.eph = gps.eph_m; + global_pos.epv = gps.epv_m; + + if (vehicle_global_position_pub < 0) { + vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos); + + } else { + orb_publish(ORB_ID(vehicle_global_position), vehicle_global_position_pub, &global_pos); + } } - - global_pos.yaw = local_pos.yaw; - - global_pos.timestamp = t; - - orb_publish(ORB_ID(vehicle_global_position), vehicle_global_position_pub, &global_pos); } } diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index b71f9472f5..2e4f26661f 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -50,13 +50,13 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); -PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.0165f); +PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f); PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f); PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f); PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f); PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f); PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f); -PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f); +PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f); int parameters_init(struct position_estimator_inav_param_handles *h) { diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c deleted file mode 100755 index 977565b8ed..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c +++ /dev/null @@ -1,58 +0,0 @@ -/* - * kalman_dlqe1.c - * - * Code generation for function 'kalman_dlqe1' - * - * C source code generated on: Wed Feb 13 20:34:32 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe1.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], - const real32_T x_aposteriori_k[3], real32_T z, real32_T - x_aposteriori[3]) -{ - printf("[dlqe input]: x_aposteriori_k %12.8f\t %12.8f\t %12.8f\t z:%12.8f\n", (double)(x_aposteriori_k[0]), (double)(x_aposteriori_k[1]), (double)(x_aposteriori_k[2]), (double)z); - printf("[dlqe input]: C[0]: %12.8f\tC[1] %12.8f\tC[2] %12.8f\n", (double)(C[0]), (double)(C[1]), (double)(C[2])); - real32_T y; - int32_T i0; - real32_T b_y[3]; - int32_T i1; - real32_T f0; - y = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - b_y[i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - b_y[i0] += C[i1] * A[i1 + 3 * i0]; - } - - y += b_y[i0] * x_aposteriori_k[i0]; - } - - y = z - y; - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1]; - } - - x_aposteriori[i0] = f0 + K[i0] * y; - } - //printf("[dlqe output]: x_aposteriori %12.8f\t %12.8f\t %12.8f\n", (double)(x_aposteriori[0]), (double)(x_aposteriori[1]), (double)(x_aposteriori[2])); -} - -/* End of code generation (kalman_dlqe1.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h deleted file mode 100755 index 2f53305633..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * kalman_dlqe1.h - * - * Code generation for function 'kalman_dlqe1' - * - * C source code generated on: Wed Feb 13 20:34:32 2013 - * - */ - -#ifndef __KALMAN_DLQE1_H__ -#define __KALMAN_DLQE1_H__ -/* Include files */ -#include -#include - -#include "rtwtypes.h" -#include "kalman_dlqe1_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]); -#endif -/* End of code generation (kalman_dlqe1.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c deleted file mode 100755 index 6627f76e9c..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * kalman_dlqe1_initialize.c - * - * Code generation for function 'kalman_dlqe1_initialize' - * - * C source code generated on: Wed Feb 13 20:34:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe1.h" -#include "kalman_dlqe1_initialize.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe1_initialize(void) -{ - rt_InitInfAndNaN(8U); -} - -/* End of code generation (kalman_dlqe1_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h deleted file mode 100755 index a77eb57123..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * kalman_dlqe1_initialize.h - * - * Code generation for function 'kalman_dlqe1_initialize' - * - * C source code generated on: Wed Feb 13 20:34:31 2013 - * - */ - -#ifndef __KALMAN_DLQE1_INITIALIZE_H__ -#define __KALMAN_DLQE1_INITIALIZE_H__ -/* Include files */ -#include -#include - -#include "rtwtypes.h" -#include "kalman_dlqe1_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe1_initialize(void); -#endif -/* End of code generation (kalman_dlqe1_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c deleted file mode 100755 index a65536f792..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * kalman_dlqe1_terminate.c - * - * Code generation for function 'kalman_dlqe1_terminate' - * - * C source code generated on: Wed Feb 13 20:34:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe1.h" -#include "kalman_dlqe1_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe1_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (kalman_dlqe1_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h deleted file mode 100755 index 100c7f76cf..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * kalman_dlqe1_terminate.h - * - * Code generation for function 'kalman_dlqe1_terminate' - * - * C source code generated on: Wed Feb 13 20:34:32 2013 - * - */ - -#ifndef __KALMAN_DLQE1_TERMINATE_H__ -#define __KALMAN_DLQE1_TERMINATE_H__ -/* Include files */ -#include -#include - -#include "rtwtypes.h" -#include "kalman_dlqe1_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe1_terminate(void); -#endif -/* End of code generation (kalman_dlqe1_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h deleted file mode 100755 index d4b2c2d61d..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * kalman_dlqe1_types.h - * - * Code generation for function 'kalman_dlqe1' - * - * C source code generated on: Wed Feb 13 20:34:31 2013 - * - */ - -#ifndef __KALMAN_DLQE1_TYPES_H__ -#define __KALMAN_DLQE1_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (kalman_dlqe1_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c deleted file mode 100755 index 11b9990642..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c +++ /dev/null @@ -1,119 +0,0 @@ -/* - * kalman_dlqe2.c - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe2.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -static real32_T rt_powf_snf(real32_T u0, real32_T u1); - -/* Function Definitions */ -static real32_T rt_powf_snf(real32_T u0, real32_T u1) -{ - real32_T y; - real32_T f1; - real32_T f2; - if (rtIsNaNF(u0) || rtIsNaNF(u1)) { - y = ((real32_T)rtNaN); - } else { - f1 = (real32_T)fabs(u0); - f2 = (real32_T)fabs(u1); - if (rtIsInfF(u1)) { - if (f1 == 1.0F) { - y = ((real32_T)rtNaN); - } else if (f1 > 1.0F) { - if (u1 > 0.0F) { - y = ((real32_T)rtInf); - } else { - y = 0.0F; - } - } else if (u1 > 0.0F) { - y = 0.0F; - } else { - y = ((real32_T)rtInf); - } - } else if (f2 == 0.0F) { - y = 1.0F; - } else if (f2 == 1.0F) { - if (u1 > 0.0F) { - y = u0; - } else { - y = 1.0F / u0; - } - } else if (u1 == 2.0F) { - y = u0 * u0; - } else if ((u1 == 0.5F) && (u0 >= 0.0F)) { - y = (real32_T)sqrt(u0); - } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) { - y = ((real32_T)rtNaN); - } else { - y = (real32_T)pow(u0, u1); - } - } - - return y; -} - -void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const - real32_T x_aposteriori_k[3], real32_T z, real32_T - x_aposteriori[3]) -{ - //printf("[dqle2] dt: %12.8f\tvk1 %12.8f\tk2: %12.8f\tk3: %12.8f\n", (double)(dt), (double)(k1), (double)(k2), (double)(k3)); - //printf("[dqle2] dt: %8.4f\n", (double)(dt));//, (double)(k1), (double)(k2), (double)(k3)); - real32_T A[9]; - real32_T y; - int32_T i0; - static const int8_T iv0[3] = { 0, 0, 1 }; - - real32_T b_k1[3]; - int32_T i1; - static const int8_T iv1[3] = { 1, 0, 0 }; - - real32_T f0; - A[0] = 1.0F; - A[3] = dt; - A[6] = 0.5F * rt_powf_snf(dt, 2.0F); - A[1] = 0.0F; - A[4] = 1.0F; - A[7] = dt; - y = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - A[2 + 3 * i0] = (real32_T)iv0[i0]; - b_k1[i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - b_k1[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0]; - } - - y += b_k1[i0] * x_aposteriori_k[i0]; - } - - y = z - y; - b_k1[0] = k1; - b_k1[1] = k2; - b_k1[2] = k3; - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1]; - } - - x_aposteriori[i0] = f0 + b_k1[i0] * y; - } -} - -/* End of code generation (kalman_dlqe2.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h deleted file mode 100755 index 30170ae22b..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * kalman_dlqe2.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -#ifndef __KALMAN_DLQE2_H__ -#define __KALMAN_DLQE2_H__ -/* Include files */ -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe2_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]); -#endif -/* End of code generation (kalman_dlqe2.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c deleted file mode 100755 index de5a1d8aa8..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * kalman_dlqe2_initialize.c - * - * Code generation for function 'kalman_dlqe2_initialize' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe2.h" -#include "kalman_dlqe2_initialize.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe2_initialize(void) -{ - rt_InitInfAndNaN(8U); -} - -/* End of code generation (kalman_dlqe2_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h deleted file mode 100755 index 3d507ff318..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * kalman_dlqe2_initialize.h - * - * Code generation for function 'kalman_dlqe2_initialize' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -#ifndef __KALMAN_DLQE2_INITIALIZE_H__ -#define __KALMAN_DLQE2_INITIALIZE_H__ -/* Include files */ -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe2_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe2_initialize(void); -#endif -/* End of code generation (kalman_dlqe2_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c deleted file mode 100755 index 0757c878cb..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * kalman_dlqe2_terminate.c - * - * Code generation for function 'kalman_dlqe2_terminate' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe2.h" -#include "kalman_dlqe2_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe2_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (kalman_dlqe2_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h deleted file mode 100755 index 23995020b4..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * kalman_dlqe2_terminate.h - * - * Code generation for function 'kalman_dlqe2_terminate' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -#ifndef __KALMAN_DLQE2_TERMINATE_H__ -#define __KALMAN_DLQE2_TERMINATE_H__ -/* Include files */ -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe2_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe2_terminate(void); -#endif -/* End of code generation (kalman_dlqe2_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h deleted file mode 100755 index f7a04d908b..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * kalman_dlqe2_types.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -#ifndef __KALMAN_DLQE2_TYPES_H__ -#define __KALMAN_DLQE2_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (kalman_dlqe2_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c deleted file mode 100755 index 9efe2ea7a4..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c +++ /dev/null @@ -1,137 +0,0 @@ -/* - * kalman_dlqe3.c - * - * Code generation for function 'kalman_dlqe3' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe3.h" -#include "randn.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -static real32_T rt_powf_snf(real32_T u0, real32_T u1); - -/* Function Definitions */ -static real32_T rt_powf_snf(real32_T u0, real32_T u1) -{ - real32_T y; - real32_T f1; - real32_T f2; - if (rtIsNaNF(u0) || rtIsNaNF(u1)) { - y = ((real32_T)rtNaN); - } else { - f1 = (real32_T)fabs(u0); - f2 = (real32_T)fabs(u1); - if (rtIsInfF(u1)) { - if (f1 == 1.0F) { - y = ((real32_T)rtNaN); - } else if (f1 > 1.0F) { - if (u1 > 0.0F) { - y = ((real32_T)rtInf); - } else { - y = 0.0F; - } - } else if (u1 > 0.0F) { - y = 0.0F; - } else { - y = ((real32_T)rtInf); - } - } else if (f2 == 0.0F) { - y = 1.0F; - } else if (f2 == 1.0F) { - if (u1 > 0.0F) { - y = u0; - } else { - y = 1.0F / u0; - } - } else if (u1 == 2.0F) { - y = u0 * u0; - } else if ((u1 == 0.5F) && (u0 >= 0.0F)) { - y = (real32_T)sqrt(u0); - } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) { - y = ((real32_T)rtNaN); - } else { - y = (real32_T)pow(u0, u1); - } - } - - return y; -} - -void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const - real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, - real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]) -{ - real32_T A[9]; - int32_T i0; - static const int8_T iv0[3] = { 0, 0, 1 }; - - real_T b; - real32_T y; - real32_T b_y[3]; - int32_T i1; - static const int8_T iv1[3] = { 1, 0, 0 }; - - real32_T b_k1[3]; - real32_T f0; - A[0] = 1.0F; - A[3] = dt; - A[6] = 0.5F * rt_powf_snf(dt, 2.0F); - A[1] = 0.0F; - A[4] = 1.0F; - A[7] = dt; - for (i0 = 0; i0 < 3; i0++) { - A[2 + 3 * i0] = (real32_T)iv0[i0]; - } - - if (addNoise == 1.0F) { - b = randn(); - z += sigma * (real32_T)b; - } - - if (posUpdate != 0.0F) { - y = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - b_y[i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - b_y[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0]; - } - - y += b_y[i0] * x_aposteriori_k[i0]; - } - - y = z - y; - b_k1[0] = k1; - b_k1[1] = k2; - b_k1[2] = k3; - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1]; - } - - x_aposteriori[i0] = f0 + b_k1[i0] * y; - } - } else { - for (i0 = 0; i0 < 3; i0++) { - x_aposteriori[i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - x_aposteriori[i0] += A[i0 + 3 * i1] * x_aposteriori_k[i1]; - } - } - } -} - -/* End of code generation (kalman_dlqe3.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h deleted file mode 100755 index 9bbffbbb30..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - * kalman_dlqe3.h - * - * Code generation for function 'kalman_dlqe3' - * - * C source code generated on: Tue Feb 19 15:26:32 2013 - * - */ - -#ifndef __KALMAN_DLQE3_H__ -#define __KALMAN_DLQE3_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe3_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]); -#endif -/* End of code generation (kalman_dlqe3.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c deleted file mode 100755 index 8f2275c131..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c +++ /dev/null @@ -1,32 +0,0 @@ -/* - * kalman_dlqe3_data.c - * - * Code generation for function 'kalman_dlqe3_data' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe3.h" -#include "kalman_dlqe3_data.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ -uint32_T method; -uint32_T state[2]; -uint32_T b_method; -uint32_T b_state; -uint32_T c_state[2]; -boolean_T state_not_empty; - -/* Function Declarations */ - -/* Function Definitions */ -/* End of code generation (kalman_dlqe3_data.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h deleted file mode 100755 index 952eb7b894..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h +++ /dev/null @@ -1,38 +0,0 @@ -/* - * kalman_dlqe3_data.h - * - * Code generation for function 'kalman_dlqe3_data' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -#ifndef __KALMAN_DLQE3_DATA_H__ -#define __KALMAN_DLQE3_DATA_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe3_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ -extern uint32_T method; -extern uint32_T state[2]; -extern uint32_T b_method; -extern uint32_T b_state; -extern uint32_T c_state[2]; -extern boolean_T state_not_empty; - -/* Variable Definitions */ - -/* Function Declarations */ -#endif -/* End of code generation (kalman_dlqe3_data.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c deleted file mode 100755 index b87d604c43..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c +++ /dev/null @@ -1,47 +0,0 @@ -/* - * kalman_dlqe3_initialize.c - * - * Code generation for function 'kalman_dlqe3_initialize' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe3.h" -#include "kalman_dlqe3_initialize.h" -#include "kalman_dlqe3_data.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe3_initialize(void) -{ - int32_T i; - static const uint32_T uv0[2] = { 362436069U, 0U }; - - rt_InitInfAndNaN(8U); - state_not_empty = FALSE; - b_state = 1144108930U; - b_method = 7U; - method = 0U; - for (i = 0; i < 2; i++) { - c_state[i] = 362436069U + 158852560U * (uint32_T)i; - state[i] = uv0[i]; - } - - if (state[1] == 0U) { - state[1] = 521288629U; - } -} - -/* End of code generation (kalman_dlqe3_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h deleted file mode 100755 index 9dee90f9e3..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - * kalman_dlqe3_initialize.h - * - * Code generation for function 'kalman_dlqe3_initialize' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -#ifndef __KALMAN_DLQE3_INITIALIZE_H__ -#define __KALMAN_DLQE3_INITIALIZE_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe3_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe3_initialize(void); -#endif -/* End of code generation (kalman_dlqe3_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c deleted file mode 100755 index b008582053..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * kalman_dlqe3_terminate.c - * - * Code generation for function 'kalman_dlqe3_terminate' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe3.h" -#include "kalman_dlqe3_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe3_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (kalman_dlqe3_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h deleted file mode 100755 index 69cc85c765..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - * kalman_dlqe3_terminate.h - * - * Code generation for function 'kalman_dlqe3_terminate' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -#ifndef __KALMAN_DLQE3_TERMINATE_H__ -#define __KALMAN_DLQE3_TERMINATE_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe3_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe3_terminate(void); -#endif -/* End of code generation (kalman_dlqe3_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h deleted file mode 100755 index f36ea4557a..0000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * kalman_dlqe3_types.h - * - * Code generation for function 'kalman_dlqe3' - * - * C source code generated on: Tue Feb 19 15:26:30 2013 - * - */ - -#ifndef __KALMAN_DLQE3_TYPES_H__ -#define __KALMAN_DLQE3_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (kalman_dlqe3_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c deleted file mode 100755 index 5139848bca..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c +++ /dev/null @@ -1,136 +0,0 @@ -/* - * positionKalmanFilter1D.c - * - * Code generation for function 'positionKalmanFilter1D' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const - real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T - P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T - Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], - real32_T P_aposteriori[9]) -{ - int32_T i0; - real32_T f0; - int32_T k; - real32_T b_A[9]; - int32_T i1; - real32_T P_apriori[9]; - real32_T y; - real32_T K[3]; - real32_T S; - int8_T I[9]; - - /* prediction */ - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (k = 0; k < 3; k++) { - f0 += A[i0 + 3 * k] * x_aposteriori_k[k]; - } - - x_aposteriori[i0] = f0 + B[i0] * u; - } - - for (i0 = 0; i0 < 3; i0++) { - for (k = 0; k < 3; k++) { - b_A[i0 + 3 * k] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - b_A[i0 + 3 * k] += A[i0 + 3 * i1] * P_aposteriori_k[i1 + 3 * k]; - } - } - } - - for (i0 = 0; i0 < 3; i0++) { - for (k = 0; k < 3; k++) { - f0 = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - f0 += b_A[i0 + 3 * i1] * A[k + 3 * i1]; - } - - P_apriori[i0 + 3 * k] = f0 + Q[i0 + 3 * k]; - } - } - - if ((real32_T)fabs(u) < thresh) { - x_aposteriori[1] *= decay; - } - - /* update */ - if (gps_update == 1) { - y = 0.0F; - for (k = 0; k < 3; k++) { - y += C[k] * x_aposteriori[k]; - K[k] = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - K[k] += C[i0] * P_apriori[i0 + 3 * k]; - } - } - - y = z - y; - S = 0.0F; - for (k = 0; k < 3; k++) { - S += K[k] * C[k]; - } - - S += R; - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (k = 0; k < 3; k++) { - f0 += P_apriori[i0 + 3 * k] * C[k]; - } - - K[i0] = f0 / S; - } - - for (i0 = 0; i0 < 3; i0++) { - x_aposteriori[i0] += K[i0] * y; - } - - for (i0 = 0; i0 < 9; i0++) { - I[i0] = 0; - } - - for (k = 0; k < 3; k++) { - I[k + 3 * k] = 1; - } - - for (i0 = 0; i0 < 3; i0++) { - for (k = 0; k < 3; k++) { - b_A[k + 3 * i0] = (real32_T)I[k + 3 * i0] - K[k] * C[i0]; - } - } - - for (i0 = 0; i0 < 3; i0++) { - for (k = 0; k < 3; k++) { - P_aposteriori[i0 + 3 * k] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - P_aposteriori[i0 + 3 * k] += b_A[i0 + 3 * i1] * P_apriori[i1 + 3 * k]; - } - } - } - } else { - for (i0 = 0; i0 < 9; i0++) { - P_aposteriori[i0] = P_apriori[i0]; - } - } -} - -/* End of code generation (positionKalmanFilter1D.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h deleted file mode 100755 index 205c8eb4ee..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D.h - * - * Code generation for function 'positionKalmanFilter1D' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_H__ -#define __POSITIONKALMANFILTER1D_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]); -#endif -/* End of code generation (positionKalmanFilter1D.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c deleted file mode 100755 index 4c535618a3..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c +++ /dev/null @@ -1,157 +0,0 @@ -/* - * positionKalmanFilter1D_dT.c - * - * Code generation for function 'positionKalmanFilter1D_dT' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D_dT.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], - const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, - const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T - x_aposteriori[3], real32_T P_aposteriori[9]) -{ - real32_T A[9]; - int32_T i; - static const int8_T iv0[3] = { 0, 0, 1 }; - - real32_T K[3]; - real32_T f0; - int32_T i0; - real32_T b_A[9]; - int32_T i1; - real32_T P_apriori[9]; - static const int8_T iv1[3] = { 1, 0, 0 }; - - real32_T fv0[3]; - real32_T y; - static const int8_T iv2[3] = { 1, 0, 0 }; - - real32_T S; - int8_T I[9]; - - /* dynamics */ - A[0] = 1.0F; - A[3] = dT; - A[6] = -0.5F * dT * dT; - A[1] = 0.0F; - A[4] = 1.0F; - A[7] = -dT; - for (i = 0; i < 3; i++) { - A[2 + 3 * i] = (real32_T)iv0[i]; - } - - /* prediction */ - K[0] = 0.5F * dT * dT; - K[1] = dT; - K[2] = 0.0F; - for (i = 0; i < 3; i++) { - f0 = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - f0 += A[i + 3 * i0] * x_aposteriori_k[i0]; - } - - x_aposteriori[i] = f0 + K[i] * u; - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - b_A[i + 3 * i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - b_A[i + 3 * i0] += A[i + 3 * i1] * P_aposteriori_k[i1 + 3 * i0]; - } - } - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - f0 += b_A[i + 3 * i1] * A[i0 + 3 * i1]; - } - - P_apriori[i + 3 * i0] = f0 + Q[i + 3 * i0]; - } - } - - if ((real32_T)fabs(u) < thresh) { - x_aposteriori[1] *= decay; - } - - /* update */ - if (gps_update == 1) { - f0 = 0.0F; - for (i = 0; i < 3; i++) { - f0 += (real32_T)iv1[i] * x_aposteriori[i]; - fv0[i] = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - fv0[i] += (real32_T)iv1[i0] * P_apriori[i0 + 3 * i]; - } - } - - y = z - f0; - f0 = 0.0F; - for (i = 0; i < 3; i++) { - f0 += fv0[i] * (real32_T)iv2[i]; - } - - S = f0 + (real32_T)R; - for (i = 0; i < 3; i++) { - f0 = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - f0 += P_apriori[i + 3 * i0] * (real32_T)iv2[i0]; - } - - K[i] = f0 / S; - } - - for (i = 0; i < 3; i++) { - x_aposteriori[i] += K[i] * y; - } - - for (i = 0; i < 9; i++) { - I[i] = 0; - } - - for (i = 0; i < 3; i++) { - I[i + 3 * i] = 1; - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - A[i0 + 3 * i] = (real32_T)I[i0 + 3 * i] - K[i0] * (real32_T)iv1[i]; - } - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - P_aposteriori[i + 3 * i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - P_aposteriori[i + 3 * i0] += A[i + 3 * i1] * P_apriori[i1 + 3 * i0]; - } - } - } - } else { - for (i = 0; i < 9; i++) { - P_aposteriori[i] = P_apriori[i]; - } - } -} - -/* End of code generation (positionKalmanFilter1D_dT.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h deleted file mode 100755 index 94cbe2ce62..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_dT.h - * - * Code generation for function 'positionKalmanFilter1D_dT' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_DT_H__ -#define __POSITIONKALMANFILTER1D_DT_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_dT_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]); -#endif -/* End of code generation (positionKalmanFilter1D_dT.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c deleted file mode 100755 index aa89f8a9d9..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_dT_initialize.c - * - * Code generation for function 'positionKalmanFilter1D_dT_initialize' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D_dT.h" -#include "positionKalmanFilter1D_dT_initialize.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D_dT_initialize(void) -{ - rt_InitInfAndNaN(8U); -} - -/* End of code generation (positionKalmanFilter1D_dT_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h deleted file mode 100755 index 8d358a9a35..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_dT_initialize.h - * - * Code generation for function 'positionKalmanFilter1D_dT_initialize' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__ -#define __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_dT_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D_dT_initialize(void); -#endif -/* End of code generation (positionKalmanFilter1D_dT_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c deleted file mode 100755 index 20ed2edbb6..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_dT_terminate.c - * - * Code generation for function 'positionKalmanFilter1D_dT_terminate' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D_dT.h" -#include "positionKalmanFilter1D_dT_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D_dT_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (positionKalmanFilter1D_dT_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h deleted file mode 100755 index 5eb5807a0a..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_dT_terminate.h - * - * Code generation for function 'positionKalmanFilter1D_dT_terminate' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_DT_TERMINATE_H__ -#define __POSITIONKALMANFILTER1D_DT_TERMINATE_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_dT_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D_dT_terminate(void); -#endif -/* End of code generation (positionKalmanFilter1D_dT_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h deleted file mode 100755 index 43e5f016cb..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * positionKalmanFilter1D_dT_types.h - * - * Code generation for function 'positionKalmanFilter1D_dT' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_DT_TYPES_H__ -#define __POSITIONKALMANFILTER1D_DT_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (positionKalmanFilter1D_dT_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c deleted file mode 100755 index 5bd87c3902..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_initialize.c - * - * Code generation for function 'positionKalmanFilter1D_initialize' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D.h" -#include "positionKalmanFilter1D_initialize.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D_initialize(void) -{ - rt_InitInfAndNaN(8U); -} - -/* End of code generation (positionKalmanFilter1D_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h deleted file mode 100755 index 44bce472f4..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_initialize.h - * - * Code generation for function 'positionKalmanFilter1D_initialize' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_INITIALIZE_H__ -#define __POSITIONKALMANFILTER1D_INITIALIZE_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D_initialize(void); -#endif -/* End of code generation (positionKalmanFilter1D_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c deleted file mode 100755 index 41e11936f8..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_terminate.c - * - * Code generation for function 'positionKalmanFilter1D_terminate' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D.h" -#include "positionKalmanFilter1D_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (positionKalmanFilter1D_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h deleted file mode 100755 index e84ea01bc0..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_terminate.h - * - * Code generation for function 'positionKalmanFilter1D_terminate' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_TERMINATE_H__ -#define __POSITIONKALMANFILTER1D_TERMINATE_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D_terminate(void); -#endif -/* End of code generation (positionKalmanFilter1D_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h deleted file mode 100755 index 4b473f56f2..0000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * positionKalmanFilter1D_types.h - * - * Code generation for function 'positionKalmanFilter1D' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_TYPES_H__ -#define __POSITIONKALMANFILTER1D_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (positionKalmanFilter1D_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/randn.c b/src/modules/position_estimator_mc/codegen/randn.c deleted file mode 100755 index 51aef7b76d..0000000000 --- a/src/modules/position_estimator_mc/codegen/randn.c +++ /dev/null @@ -1,524 +0,0 @@ -/* - * randn.c - * - * Code generation for function 'randn' - * - * C source code generated on: Tue Feb 19 15:26:32 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe3.h" -#include "randn.h" -#include "kalman_dlqe3_data.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ -static uint32_T d_state[625]; - -/* Function Declarations */ -static real_T b_genrandu(uint32_T mt[625]); -static real_T eml_rand_mt19937ar(uint32_T e_state[625]); -static real_T eml_rand_shr3cong(uint32_T e_state[2]); -static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]); -static void genrandu(uint32_T s, uint32_T *e_state, real_T *r); -static void twister_state_vector(uint32_T mt[625], real_T seed); - -/* Function Definitions */ -static real_T b_genrandu(uint32_T mt[625]) -{ - real_T r; - int32_T exitg1; - uint32_T u[2]; - boolean_T isvalid; - int32_T k; - boolean_T exitg2; - - /* This is a uniform (0,1) pseudorandom number generator based on: */ - /* */ - /* A C-program for MT19937, with initialization improved 2002/1/26. */ - /* Coded by Takuji Nishimura and Makoto Matsumoto. */ - /* */ - /* Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, */ - /* All rights reserved. */ - /* */ - /* 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. The names of its contributors may not 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. */ - do { - exitg1 = 0; - genrand_uint32_vector(mt, u); - r = 1.1102230246251565E-16 * ((real_T)(u[0] >> 5U) * 6.7108864E+7 + (real_T) - (u[1] >> 6U)); - if (r == 0.0) { - if ((mt[624] >= 1U) && (mt[624] < 625U)) { - isvalid = TRUE; - } else { - isvalid = FALSE; - } - - if (isvalid) { - isvalid = FALSE; - k = 1; - exitg2 = FALSE; - while ((exitg2 == FALSE) && (k < 625)) { - if (mt[k - 1] == 0U) { - k++; - } else { - isvalid = TRUE; - exitg2 = TRUE; - } - } - } - - if (!isvalid) { - twister_state_vector(mt, 5489.0); - } - } else { - exitg1 = 1; - } - } while (exitg1 == 0); - - return r; -} - -static real_T eml_rand_mt19937ar(uint32_T e_state[625]) -{ - real_T r; - int32_T exitg1; - uint32_T u32[2]; - int32_T i; - static const real_T dv1[257] = { 0.0, 0.215241895984875, 0.286174591792068, - 0.335737519214422, 0.375121332878378, 0.408389134611989, 0.43751840220787, - 0.46363433679088, 0.487443966139235, 0.50942332960209, 0.529909720661557, - 0.549151702327164, 0.567338257053817, 0.584616766106378, 0.601104617755991, - 0.61689699000775, 0.63207223638606, 0.646695714894993, 0.660822574244419, - 0.674499822837293, 0.687767892795788, 0.700661841106814, 0.713212285190975, - 0.725446140909999, 0.737387211434295, 0.749056662017815, 0.760473406430107, - 0.771654424224568, 0.782615023307232, 0.793369058840623, 0.80392911698997, - 0.814306670135215, 0.824512208752291, 0.834555354086381, 0.844444954909153, - 0.854189171008163, 0.863795545553308, 0.87327106808886, 0.882622229585165, - 0.891855070732941, 0.900975224461221, 0.909987953496718, 0.91889818364959, - 0.927710533401999, 0.936429340286575, 0.945058684468165, 0.953602409881086, - 0.96206414322304, 0.970447311064224, 0.978755155294224, 0.986990747099062, - 0.99515699963509, 1.00325667954467, 1.01129241744, 1.01926671746548, - 1.02718196603564, 1.03504043983344, 1.04284431314415, 1.05059566459093, - 1.05829648333067, 1.06594867476212, 1.07355406579244, 1.0811144097034, - 1.08863139065398, 1.09610662785202, 1.10354167942464, 1.11093804601357, - 1.11829717411934, 1.12562045921553, 1.13290924865253, 1.14016484436815, - 1.14738850542085, 1.15458145035993, 1.16174485944561, 1.16887987673083, - 1.17598761201545, 1.18306914268269, 1.19012551542669, 1.19715774787944, - 1.20416683014438, 1.2111537262437, 1.21811937548548, 1.22506469375653, - 1.23199057474614, 1.23889789110569, 1.24578749554863, 1.2526602218949, - 1.25951688606371, 1.26635828701823, 1.27318520766536, 1.27999841571382, - 1.28679866449324, 1.29358669373695, 1.30036323033084, 1.30712898903073, - 1.31388467315022, 1.32063097522106, 1.32736857762793, 1.33409815321936, - 1.3408203658964, 1.34753587118059, 1.35424531676263, 1.36094934303328, - 1.36764858359748, 1.37434366577317, 1.38103521107586, 1.38772383568998, - 1.39441015092814, 1.40109476367925, 1.4077782768464, 1.41446128977547, - 1.42114439867531, 1.42782819703026, 1.43451327600589, 1.44120022484872, - 1.44788963128058, 1.45458208188841, 1.46127816251028, 1.46797845861808, - 1.47468355569786, 1.48139403962819, 1.48811049705745, 1.49483351578049, - 1.50156368511546, 1.50830159628131, 1.51504784277671, 1.521803020761, - 1.52856772943771, 1.53534257144151, 1.542128153229, 1.54892508547417, - 1.55573398346918, 1.56255546753104, 1.56939016341512, 1.57623870273591, - 1.58310172339603, 1.58997987002419, 1.59687379442279, 1.60378415602609, - 1.61071162236983, 1.61765686957301, 1.62462058283303, 1.63160345693487, - 1.63860619677555, 1.64562951790478, 1.65267414708306, 1.65974082285818, - 1.66683029616166, 1.67394333092612, 1.68108070472517, 1.68824320943719, - 1.69543165193456, 1.70264685479992, 1.7098896570713, 1.71716091501782, - 1.72446150294804, 1.73179231405296, 1.73915426128591, 1.74654827828172, - 1.75397532031767, 1.76143636531891, 1.76893241491127, 1.77646449552452, - 1.78403365954944, 1.79164098655216, 1.79928758454972, 1.80697459135082, - 1.81470317596628, 1.82247454009388, 1.83028991968276, 1.83815058658281, - 1.84605785028518, 1.8540130597602, 1.86201760539967, 1.87007292107127, - 1.878180486293, 1.88634182853678, 1.8945585256707, 1.90283220855043, - 1.91116456377125, 1.91955733659319, 1.92801233405266, 1.93653142827569, - 1.94511656000868, 1.95376974238465, 1.96249306494436, 1.97128869793366, - 1.98015889690048, 1.98910600761744, 1.99813247135842, 2.00724083056053, - 2.0164337349062, 2.02571394786385, 2.03508435372962, 2.04454796521753, - 2.05410793165065, 2.06376754781173, 2.07353026351874, 2.0833996939983, - 2.09337963113879, 2.10347405571488, 2.11368715068665, 2.12402331568952, - 2.13448718284602, 2.14508363404789, 2.15581781987674, 2.16669518035431, - 2.17772146774029, 2.18890277162636, 2.20024554661128, 2.21175664288416, - 2.22344334009251, 2.23531338492992, 2.24737503294739, 2.25963709517379, - 2.27210899022838, 2.28480080272449, 2.29772334890286, 2.31088825060137, - 2.32430801887113, 2.33799614879653, 2.35196722737914, 2.36623705671729, - 2.38082279517208, 2.39574311978193, 2.41101841390112, 2.42667098493715, - 2.44272531820036, 2.4592083743347, 2.47614993967052, 2.49358304127105, - 2.51154444162669, 2.53007523215985, 2.54922155032478, 2.56903545268184, - 2.58957598670829, 2.61091051848882, 2.63311639363158, 2.65628303757674, - 2.68051464328574, 2.70593365612306, 2.73268535904401, 2.76094400527999, - 2.79092117400193, 2.82287739682644, 2.85713873087322, 2.89412105361341, - 2.93436686720889, 2.97860327988184, 3.02783779176959, 3.08352613200214, - 3.147889289518, 3.2245750520478, 3.32024473383983, 3.44927829856143, - 3.65415288536101, 3.91075795952492 }; - - real_T u; - static const real_T dv2[257] = { 1.0, 0.977101701267673, 0.959879091800108, - 0.9451989534423, 0.932060075959231, 0.919991505039348, 0.908726440052131, - 0.898095921898344, 0.887984660755834, 0.878309655808918, 0.869008688036857, - 0.860033621196332, 0.851346258458678, 0.842915653112205, 0.834716292986884, - 0.826726833946222, 0.818929191603703, 0.811307874312656, 0.803849483170964, - 0.796542330422959, 0.789376143566025, 0.782341832654803, 0.775431304981187, - 0.768637315798486, 0.761953346836795, 0.755373506507096, 0.748892447219157, - 0.742505296340151, 0.736207598126863, 0.729995264561476, 0.72386453346863, - 0.717811932630722, 0.711834248878248, 0.705928501332754, 0.700091918136512, - 0.694321916126117, 0.688616083004672, 0.682972161644995, 0.677388036218774, - 0.671861719897082, 0.66639134390875, 0.660975147776663, 0.655611470579697, - 0.650298743110817, 0.645035480820822, 0.639820277453057, 0.634651799287624, - 0.629528779924837, 0.624450015547027, 0.619414360605834, 0.614420723888914, - 0.609468064925773, 0.604555390697468, 0.599681752619125, 0.594846243767987, - 0.590047996332826, 0.585286179263371, 0.580559996100791, 0.575868682972354, - 0.571211506735253, 0.566587763256165, 0.561996775814525, 0.557437893618766, - 0.552910490425833, 0.548413963255266, 0.543947731190026, 0.539511234256952, - 0.535103932380458, 0.530725304403662, 0.526374847171684, 0.522052074672322, - 0.517756517229756, 0.513487720747327, 0.509245245995748, 0.505028667943468, - 0.500837575126149, 0.49667156905249, 0.492530263643869, 0.488413284705458, - 0.484320269426683, 0.480250865909047, 0.476204732719506, 0.47218153846773, - 0.468180961405694, 0.464202689048174, 0.460246417812843, 0.456311852678716, - 0.452398706861849, 0.448506701507203, 0.444635565395739, 0.440785034665804, - 0.436954852547985, 0.433144769112652, 0.429354541029442, 0.425583931338022, - 0.421832709229496, 0.418100649837848, 0.414387534040891, 0.410693148270188, - 0.407017284329473, 0.403359739221114, 0.399720314980197, 0.396098818515832, - 0.392495061459315, 0.388908860018789, 0.385340034840077, 0.381788410873393, - 0.378253817245619, 0.374736087137891, 0.371235057668239, 0.367750569779032, - 0.364282468129004, 0.360830600989648, 0.357394820145781, 0.353974980800077, - 0.350570941481406, 0.347182563956794, 0.343809713146851, 0.340452257044522, - 0.337110066637006, 0.333783015830718, 0.330470981379163, 0.327173842813601, - 0.323891482376391, 0.320623784956905, 0.317370638029914, 0.314131931596337, - 0.310907558126286, 0.307697412504292, 0.30450139197665, 0.301319396100803, - 0.298151326696685, 0.294997087799962, 0.291856585617095, 0.288729728482183, - 0.285616426815502, 0.282516593083708, 0.279430141761638, 0.276356989295668, - 0.273297054068577, 0.270250256365875, 0.267216518343561, 0.264195763997261, - 0.261187919132721, 0.258192911337619, 0.255210669954662, 0.252241126055942, - 0.249284212418529, 0.246339863501264, 0.24340801542275, 0.240488605940501, - 0.237581574431238, 0.23468686187233, 0.231804410824339, 0.228934165414681, - 0.226076071322381, 0.223230075763918, 0.220396127480152, 0.217574176724331, - 0.214764175251174, 0.211966076307031, 0.209179834621125, 0.206405406397881, - 0.203642749310335, 0.200891822494657, 0.198152586545776, 0.195425003514135, - 0.192709036903589, 0.190004651670465, 0.187311814223801, 0.1846304924268, - 0.181960655599523, 0.179302274522848, 0.176655321443735, 0.174019770081839, - 0.171395595637506, 0.168782774801212, 0.166181285764482, 0.163591108232366, - 0.161012223437511, 0.158444614155925, 0.15588826472448, 0.153343161060263, - 0.150809290681846, 0.148286642732575, 0.145775208005994, 0.143274978973514, - 0.140785949814445, 0.138308116448551, 0.135841476571254, 0.133386029691669, - 0.130941777173644, 0.12850872228, 0.126086870220186, 0.123676228201597, - 0.12127680548479, 0.11888861344291, 0.116511665625611, 0.114145977827839, - 0.111791568163838, 0.109448457146812, 0.107116667774684, 0.104796225622487, - 0.102487158941935, 0.10018949876881, 0.0979032790388625, 0.095628536713009, - 0.093365311912691, 0.0911136480663738, 0.0888735920682759, - 0.0866451944505581, 0.0844285095703535, 0.082223595813203, - 0.0800305158146631, 0.0778493367020961, 0.0756801303589272, - 0.0735229737139814, 0.0713779490588905, 0.0692451443970068, - 0.0671246538277886, 0.065016577971243, 0.0629210244377582, 0.06083810834954, - 0.0587679529209339, 0.0567106901062031, 0.0546664613248891, - 0.0526354182767924, 0.0506177238609479, 0.0486135532158687, - 0.0466230949019305, 0.0446465522512946, 0.0426841449164746, - 0.0407361106559411, 0.0388027074045262, 0.0368842156885674, - 0.0349809414617162, 0.0330932194585786, 0.0312214171919203, - 0.0293659397581334, 0.0275272356696031, 0.0257058040085489, - 0.0239022033057959, 0.0221170627073089, 0.0203510962300445, - 0.0186051212757247, 0.0168800831525432, 0.0151770883079353, - 0.0134974506017399, 0.0118427578579079, 0.0102149714397015, - 0.00861658276939875, 0.00705087547137324, 0.00552240329925101, - 0.00403797259336304, 0.00260907274610216, 0.0012602859304986, - 0.000477467764609386 }; - - real_T x; - do { - exitg1 = 0; - genrand_uint32_vector(e_state, u32); - i = (int32_T)((u32[1] >> 24U) + 1U); - r = (((real_T)(u32[0] >> 3U) * 1.6777216E+7 + (real_T)((int32_T)u32[1] & - 16777215)) * 2.2204460492503131E-16 - 1.0) * dv1[i]; - if (fabs(r) <= dv1[i - 1]) { - exitg1 = 1; - } else if (i < 256) { - u = b_genrandu(e_state); - if (dv2[i] + u * (dv2[i - 1] - dv2[i]) < exp(-0.5 * r * r)) { - exitg1 = 1; - } - } else { - do { - u = b_genrandu(e_state); - x = log(u) * 0.273661237329758; - u = b_genrandu(e_state); - } while (!(-2.0 * log(u) > x * x)); - - if (r < 0.0) { - r = x - 3.65415288536101; - } else { - r = 3.65415288536101 - x; - } - - exitg1 = 1; - } - } while (exitg1 == 0); - - return r; -} - -static real_T eml_rand_shr3cong(uint32_T e_state[2]) -{ - real_T r; - uint32_T icng; - uint32_T jsr; - uint32_T ui; - int32_T j; - static const real_T dv0[65] = { 0.340945, 0.4573146, 0.5397793, 0.6062427, - 0.6631691, 0.7136975, 0.7596125, 0.8020356, 0.8417227, 0.8792102, 0.9148948, - 0.9490791, 0.9820005, 1.0138492, 1.044781, 1.0749254, 1.1043917, 1.1332738, - 1.161653, 1.189601, 1.2171815, 1.2444516, 1.2714635, 1.298265, 1.3249008, - 1.3514125, 1.3778399, 1.4042211, 1.4305929, 1.4569915, 1.4834527, 1.5100122, - 1.5367061, 1.5635712, 1.5906454, 1.617968, 1.6455802, 1.6735255, 1.7018503, - 1.7306045, 1.7598422, 1.7896223, 1.8200099, 1.851077, 1.8829044, 1.9155831, - 1.9492166, 1.9839239, 2.0198431, 2.0571356, 2.095993, 2.136645, 2.1793713, - 2.2245175, 2.2725186, 2.3239338, 2.3795008, 2.4402218, 2.5075117, 2.5834658, - 2.6713916, 2.7769942, 2.7769942, 2.7769942, 2.7769942 }; - - real_T x; - real_T y; - real_T s; - icng = 69069U * e_state[0] + 1234567U; - jsr = e_state[1] ^ e_state[1] << 13U; - jsr ^= jsr >> 17U; - jsr ^= jsr << 5U; - ui = icng + jsr; - j = (int32_T)(ui & 63U); - r = (real_T)(int32_T)ui * 4.6566128730773926E-10 * dv0[j + 1]; - if (fabs(r) <= dv0[j]) { - } else { - x = (fabs(r) - dv0[j]) / (dv0[j + 1] - dv0[j]); - icng = 69069U * icng + 1234567U; - jsr ^= jsr << 13U; - jsr ^= jsr >> 17U; - jsr ^= jsr << 5U; - y = (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10; - s = x + (0.5 + y); - if (s > 1.301198) { - if (r < 0.0) { - r = 0.4878992 * x - 0.4878992; - } else { - r = 0.4878992 - 0.4878992 * x; - } - } else if (s <= 0.9689279) { - } else { - s = 0.4878992 * x; - x = 0.4878992 - 0.4878992 * x; - if (0.5 + y > 12.67706 - 12.37586 * exp(-0.5 * (0.4878992 - s) * x)) { - if (r < 0.0) { - r = -(0.4878992 - s); - } else { - r = 0.4878992 - s; - } - } else if (exp(-0.5 * dv0[j + 1] * dv0[j + 1]) + (0.5 + y) * 0.01958303 / - dv0[j + 1] <= exp(-0.5 * r * r)) { - } else { - do { - icng = 69069U * icng + 1234567U; - jsr ^= jsr << 13U; - jsr ^= jsr >> 17U; - jsr ^= jsr << 5U; - x = log(0.5 + (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10) / - 2.776994; - icng = 69069U * icng + 1234567U; - jsr ^= jsr << 13U; - jsr ^= jsr >> 17U; - jsr ^= jsr << 5U; - } while (!(-2.0 * log(0.5 + (real_T)(int32_T)(icng + jsr) * - 2.328306436538696E-10) > x * x)); - - if (r < 0.0) { - r = x - 2.776994; - } else { - r = 2.776994 - x; - } - } - } - } - - e_state[0] = icng; - e_state[1] = jsr; - return r; -} - -static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]) -{ - int32_T i; - uint32_T mti; - int32_T kk; - uint32_T y; - uint32_T b_y; - uint32_T c_y; - uint32_T d_y; - for (i = 0; i < 2; i++) { - u[i] = 0U; - } - - for (i = 0; i < 2; i++) { - mti = mt[624] + 1U; - if (mti >= 625U) { - for (kk = 0; kk < 227; kk++) { - y = (mt[kk] & 2147483648U) | (mt[1 + kk] & 2147483647U); - if ((int32_T)(y & 1U) == 0) { - b_y = y >> 1U; - } else { - b_y = y >> 1U ^ 2567483615U; - } - - mt[kk] = mt[397 + kk] ^ b_y; - } - - for (kk = 0; kk < 396; kk++) { - y = (mt[227 + kk] & 2147483648U) | (mt[228 + kk] & 2147483647U); - if ((int32_T)(y & 1U) == 0) { - c_y = y >> 1U; - } else { - c_y = y >> 1U ^ 2567483615U; - } - - mt[227 + kk] = mt[kk] ^ c_y; - } - - y = (mt[623] & 2147483648U) | (mt[0] & 2147483647U); - if ((int32_T)(y & 1U) == 0) { - d_y = y >> 1U; - } else { - d_y = y >> 1U ^ 2567483615U; - } - - mt[623] = mt[396] ^ d_y; - mti = 1U; - } - - y = mt[(int32_T)mti - 1]; - mt[624] = mti; - y ^= y >> 11U; - y ^= y << 7U & 2636928640U; - y ^= y << 15U & 4022730752U; - y ^= y >> 18U; - u[i] = y; - } -} - -static void genrandu(uint32_T s, uint32_T *e_state, real_T *r) -{ - int32_T hi; - uint32_T test1; - uint32_T test2; - hi = (int32_T)(s / 127773U); - test1 = 16807U * (s - (uint32_T)hi * 127773U); - test2 = 2836U * (uint32_T)hi; - if (test1 < test2) { - *e_state = (test1 - test2) + 2147483647U; - } else { - *e_state = test1 - test2; - } - - *r = (real_T)*e_state * 4.6566128752457969E-10; -} - -static void twister_state_vector(uint32_T mt[625], real_T seed) -{ - uint32_T r; - int32_T mti; - if (seed < 4.294967296E+9) { - if (seed >= 0.0) { - r = (uint32_T)seed; - } else { - r = 0U; - } - } else if (seed >= 4.294967296E+9) { - r = MAX_uint32_T; - } else { - r = 0U; - } - - mt[0] = r; - for (mti = 0; mti < 623; mti++) { - r = (r ^ r >> 30U) * 1812433253U + (uint32_T)(1 + mti); - mt[1 + mti] = r; - } - - mt[624] = 624U; -} - -real_T randn(void) -{ - real_T r; - uint32_T e_state; - real_T t; - real_T b_r; - uint32_T f_state; - if (method == 0U) { - if (b_method == 4U) { - do { - genrandu(b_state, &e_state, &r); - genrandu(e_state, &b_state, &t); - b_r = 2.0 * r - 1.0; - t = 2.0 * t - 1.0; - t = t * t + b_r * b_r; - } while (!(t <= 1.0)); - - r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t); - } else if (b_method == 5U) { - r = eml_rand_shr3cong(c_state); - } else { - if (!state_not_empty) { - memset(&d_state[0], 0, 625U * sizeof(uint32_T)); - twister_state_vector(d_state, 5489.0); - state_not_empty = TRUE; - } - - r = eml_rand_mt19937ar(d_state); - } - } else if (method == 4U) { - e_state = state[0]; - do { - genrandu(e_state, &f_state, &r); - genrandu(f_state, &e_state, &t); - b_r = 2.0 * r - 1.0; - t = 2.0 * t - 1.0; - t = t * t + b_r * b_r; - } while (!(t <= 1.0)); - - state[0] = e_state; - r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t); - } else { - r = eml_rand_shr3cong(state); - } - - return r; -} - -/* End of code generation (randn.c) */ diff --git a/src/modules/position_estimator_mc/codegen/randn.h b/src/modules/position_estimator_mc/codegen/randn.h deleted file mode 100755 index 8a2aa92778..0000000000 --- a/src/modules/position_estimator_mc/codegen/randn.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - * randn.h - * - * Code generation for function 'randn' - * - * C source code generated on: Tue Feb 19 15:26:32 2013 - * - */ - -#ifndef __RANDN_H__ -#define __RANDN_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe3_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern real_T randn(void); -#endif -/* End of code generation (randn.h) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.c b/src/modules/position_estimator_mc/codegen/rtGetInf.c deleted file mode 100755 index c6fa7884e6..0000000000 --- a/src/modules/position_estimator_mc/codegen/rtGetInf.c +++ /dev/null @@ -1,139 +0,0 @@ -/* - * rtGetInf.c - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finite, Inf and MinusInf - */ -#include "rtGetInf.h" -#define NumBitsPerChar 8U - -/* Function: rtGetInf ================================================== - * Abstract: - * Initialize rtInf needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetInf(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T inf = 0.0; - if (bitsPerReal == 32U) { - inf = rtGetInfF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - inf = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - inf = tmpVal.fltVal; - break; - } - } - } - - return inf; -} - -/* Function: rtGetInfF ================================================== - * Abstract: - * Initialize rtInfF needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetInfF(void) -{ - IEEESingle infF; - infF.wordL.wordLuint = 0x7F800000U; - return infF.wordL.wordLreal; -} - -/* Function: rtGetMinusInf ================================================== - * Abstract: - * Initialize rtMinusInf needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetMinusInf(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T minf = 0.0; - if (bitsPerReal == 32U) { - minf = rtGetMinusInfF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - minf = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - minf = tmpVal.fltVal; - break; - } - } - } - - return minf; -} - -/* Function: rtGetMinusInfF ================================================== - * Abstract: - * Initialize rtMinusInfF needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetMinusInfF(void) -{ - IEEESingle minfF; - minfF.wordL.wordLuint = 0xFF800000U; - return minfF.wordL.wordLreal; -} - -/* End of code generation (rtGetInf.c) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.h b/src/modules/position_estimator_mc/codegen/rtGetInf.h deleted file mode 100755 index e7b2a2d1ca..0000000000 --- a/src/modules/position_estimator_mc/codegen/rtGetInf.h +++ /dev/null @@ -1,23 +0,0 @@ -/* - * rtGetInf.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -#ifndef __RTGETINF_H__ -#define __RTGETINF_H__ - -#include -#include "rtwtypes.h" -#include "rt_nonfinite.h" - -extern real_T rtGetInf(void); -extern real32_T rtGetInfF(void); -extern real_T rtGetMinusInf(void); -extern real32_T rtGetMinusInfF(void); - -#endif -/* End of code generation (rtGetInf.h) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.c b/src/modules/position_estimator_mc/codegen/rtGetNaN.c deleted file mode 100755 index 5527701498..0000000000 --- a/src/modules/position_estimator_mc/codegen/rtGetNaN.c +++ /dev/null @@ -1,96 +0,0 @@ -/* - * rtGetNaN.c - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finite, NaN - */ -#include "rtGetNaN.h" -#define NumBitsPerChar 8U - -/* Function: rtGetNaN ================================================== - * Abstract: - * Initialize rtNaN needed by the generated code. - * NaN is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetNaN(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T nan = 0.0; - if (bitsPerReal == 32U) { - nan = rtGetNaNF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF80000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - nan = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FFFFFFFU; - tmpVal.bitVal.words.wordL = 0xFFFFFFFFU; - nan = tmpVal.fltVal; - break; - } - } - } - - return nan; -} - -/* Function: rtGetNaNF ================================================== - * Abstract: - * Initialize rtNaNF needed by the generated code. - * NaN is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetNaNF(void) -{ - IEEESingle nanF = { { 0 } }; - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - nanF.wordL.wordLuint = 0xFFC00000U; - break; - } - - case BigEndian: - { - nanF.wordL.wordLuint = 0x7FFFFFFFU; - break; - } - } - - return nanF.wordL.wordLreal; -} - -/* End of code generation (rtGetNaN.c) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.h b/src/modules/position_estimator_mc/codegen/rtGetNaN.h deleted file mode 100755 index 5acdd97901..0000000000 --- a/src/modules/position_estimator_mc/codegen/rtGetNaN.h +++ /dev/null @@ -1,21 +0,0 @@ -/* - * rtGetNaN.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -#ifndef __RTGETNAN_H__ -#define __RTGETNAN_H__ - -#include -#include "rtwtypes.h" -#include "rt_nonfinite.h" - -extern real_T rtGetNaN(void); -extern real32_T rtGetNaNF(void); - -#endif -/* End of code generation (rtGetNaN.h) */ diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c deleted file mode 100755 index de121c4a0c..0000000000 --- a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c +++ /dev/null @@ -1,87 +0,0 @@ -/* - * rt_nonfinite.c - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finites, - * (Inf, NaN and -Inf). - */ -#include "rt_nonfinite.h" -#include "rtGetNaN.h" -#include "rtGetInf.h" - -real_T rtInf; -real_T rtMinusInf; -real_T rtNaN; -real32_T rtInfF; -real32_T rtMinusInfF; -real32_T rtNaNF; - -/* Function: rt_InitInfAndNaN ================================================== - * Abstract: - * Initialize the rtInf, rtMinusInf, and rtNaN needed by the - * generated code. NaN is initialized as non-signaling. Assumes IEEE. - */ -void rt_InitInfAndNaN(size_t realSize) -{ - (void) (realSize); - rtNaN = rtGetNaN(); - rtNaNF = rtGetNaNF(); - rtInf = rtGetInf(); - rtInfF = rtGetInfF(); - rtMinusInf = rtGetMinusInf(); - rtMinusInfF = rtGetMinusInfF(); -} - -/* Function: rtIsInf ================================================== - * Abstract: - * Test if value is infinite - */ -boolean_T rtIsInf(real_T value) -{ - return ((value==rtInf || value==rtMinusInf) ? 1U : 0U); -} - -/* Function: rtIsInfF ================================================= - * Abstract: - * Test if single-precision value is infinite - */ -boolean_T rtIsInfF(real32_T value) -{ - return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U); -} - -/* Function: rtIsNaN ================================================== - * Abstract: - * Test if value is not a number - */ -boolean_T rtIsNaN(real_T value) -{ -#if defined(_MSC_VER) && (_MSC_VER <= 1200) - return _isnan(value)? TRUE:FALSE; -#else - return (value!=value)? 1U:0U; -#endif -} - -/* Function: rtIsNaNF ================================================= - * Abstract: - * Test if single-precision value is not a number - */ -boolean_T rtIsNaNF(real32_T value) -{ -#if defined(_MSC_VER) && (_MSC_VER <= 1200) - return _isnan((real_T)value)? true:false; -#else - return (value!=value)? 1U:0U; -#endif -} - - -/* End of code generation (rt_nonfinite.c) */ diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h deleted file mode 100755 index 3bbcfd0879..0000000000 --- a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h +++ /dev/null @@ -1,53 +0,0 @@ -/* - * rt_nonfinite.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -#ifndef __RT_NONFINITE_H__ -#define __RT_NONFINITE_H__ - -#if defined(_MSC_VER) && (_MSC_VER <= 1200) -#include -#endif -#include -#include "rtwtypes.h" - -extern real_T rtInf; -extern real_T rtMinusInf; -extern real_T rtNaN; -extern real32_T rtInfF; -extern real32_T rtMinusInfF; -extern real32_T rtNaNF; -extern void rt_InitInfAndNaN(size_t realSize); -extern boolean_T rtIsInf(real_T value); -extern boolean_T rtIsInfF(real32_T value); -extern boolean_T rtIsNaN(real_T value); -extern boolean_T rtIsNaNF(real32_T value); - -typedef struct { - struct { - uint32_T wordH; - uint32_T wordL; - } words; -} BigEndianIEEEDouble; - -typedef struct { - struct { - uint32_T wordL; - uint32_T wordH; - } words; -} LittleEndianIEEEDouble; - -typedef struct { - union { - real32_T wordLreal; - uint32_T wordLuint; - } wordL; -} IEEESingle; - -#endif -/* End of code generation (rt_nonfinite.h) */ diff --git a/src/modules/position_estimator_mc/codegen/rtwtypes.h b/src/modules/position_estimator_mc/codegen/rtwtypes.h deleted file mode 100755 index 8916e8572c..0000000000 --- a/src/modules/position_estimator_mc/codegen/rtwtypes.h +++ /dev/null @@ -1,159 +0,0 @@ -/* - * rtwtypes.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -#ifndef __RTWTYPES_H__ -#define __RTWTYPES_H__ -#ifndef TRUE -# define TRUE (1U) -#endif -#ifndef FALSE -# define FALSE (0U) -#endif -#ifndef __TMWTYPES__ -#define __TMWTYPES__ - -#include - -/*=======================================================================* - * Target hardware information - * Device type: Generic->MATLAB Host Computer - * Number of bits: char: 8 short: 16 int: 32 - * long: 32 native word size: 32 - * Byte ordering: LittleEndian - * Signed integer division rounds to: Undefined - * Shift right on a signed integer as arithmetic shift: off - *=======================================================================*/ - -/*=======================================================================* - * Fixed width word size data types: * - * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * - * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * - * real32_T, real64_T - 32 and 64 bit floating point numbers * - *=======================================================================*/ - -typedef signed char int8_T; -typedef unsigned char uint8_T; -typedef short int16_T; -typedef unsigned short uint16_T; -typedef int int32_T; -typedef unsigned int uint32_T; -typedef float real32_T; -typedef double real64_T; - -/*===========================================================================* - * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, * - * ulong_T, char_T and byte_T. * - *===========================================================================*/ - -typedef double real_T; -typedef double time_T; -typedef unsigned char boolean_T; -typedef int int_T; -typedef unsigned int uint_T; -typedef unsigned long ulong_T; -typedef char char_T; -typedef char_T byte_T; - -/*===========================================================================* - * Complex number type definitions * - *===========================================================================*/ -#define CREAL_T - typedef struct { - real32_T re; - real32_T im; - } creal32_T; - - typedef struct { - real64_T re; - real64_T im; - } creal64_T; - - typedef struct { - real_T re; - real_T im; - } creal_T; - - typedef struct { - int8_T re; - int8_T im; - } cint8_T; - - typedef struct { - uint8_T re; - uint8_T im; - } cuint8_T; - - typedef struct { - int16_T re; - int16_T im; - } cint16_T; - - typedef struct { - uint16_T re; - uint16_T im; - } cuint16_T; - - typedef struct { - int32_T re; - int32_T im; - } cint32_T; - - typedef struct { - uint32_T re; - uint32_T im; - } cuint32_T; - - -/*=======================================================================* - * Min and Max: * - * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * - * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * - *=======================================================================*/ - -#define MAX_int8_T ((int8_T)(127)) -#define MIN_int8_T ((int8_T)(-128)) -#define MAX_uint8_T ((uint8_T)(255)) -#define MIN_uint8_T ((uint8_T)(0)) -#define MAX_int16_T ((int16_T)(32767)) -#define MIN_int16_T ((int16_T)(-32768)) -#define MAX_uint16_T ((uint16_T)(65535)) -#define MIN_uint16_T ((uint16_T)(0)) -#define MAX_int32_T ((int32_T)(2147483647)) -#define MIN_int32_T ((int32_T)(-2147483647-1)) -#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU)) -#define MIN_uint32_T ((uint32_T)(0)) - -/* Logical type definitions */ -#if !defined(__cplusplus) && !defined(__true_false_are_keywords) -# ifndef false -# define false (0U) -# endif -# ifndef true -# define true (1U) -# endif -#endif - -/* - * MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation - * for signed integer values. - */ -#if ((SCHAR_MIN + 1) != -SCHAR_MAX) -#error "This code must be compiled using a 2's complement representation for signed integer values" -#endif - -/* - * Maximum length of a MATLAB identifier (function/variable) - * including the null-termination character. Referenced by - * rt_logging.c and rt_matrx.c. - */ -#define TMW_NAME_LENGTH_MAX 64 - -#endif -#endif -/* End of code generation (rtwtypes.h) */ diff --git a/src/modules/position_estimator_mc/kalman_dlqe1.m b/src/modules/position_estimator_mc/kalman_dlqe1.m deleted file mode 100755 index ff939d0297..0000000000 --- a/src/modules/position_estimator_mc/kalman_dlqe1.m +++ /dev/null @@ -1,3 +0,0 @@ -function [x_aposteriori] = kalman_dlqe1(A,C,K,x_aposteriori_k,z) - x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); -end \ No newline at end of file diff --git a/src/modules/position_estimator_mc/kalman_dlqe2.m b/src/modules/position_estimator_mc/kalman_dlqe2.m deleted file mode 100755 index 2a50164efd..0000000000 --- a/src/modules/position_estimator_mc/kalman_dlqe2.m +++ /dev/null @@ -1,9 +0,0 @@ -function [x_aposteriori] = kalman_dlqe2(dt,k1,k2,k3,x_aposteriori_k,z) - st = 1/2*dt^2; - A = [1,dt,st; - 0,1,dt; - 0,0,1]; - C=[1,0,0]; - K = [k1;k2;k3]; - x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); -end \ No newline at end of file diff --git a/src/modules/position_estimator_mc/kalman_dlqe3.m b/src/modules/position_estimator_mc/kalman_dlqe3.m deleted file mode 100755 index 4c6421b7fe..0000000000 --- a/src/modules/position_estimator_mc/kalman_dlqe3.m +++ /dev/null @@ -1,17 +0,0 @@ -function [x_aposteriori] = kalman_dlqe3(dt,k1,k2,k3,x_aposteriori_k,z,posUpdate,addNoise,sigma) - st = 1/2*dt^2; - A = [1,dt,st; - 0,1,dt; - 0,0,1]; - C=[1,0,0]; - K = [k1;k2;k3]; - if addNoise==1 - noise = sigma*randn(1,1); - z = z + noise; - end - if(posUpdate) - x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); - else - x_aposteriori=A*x_aposteriori_k; - end -end \ No newline at end of file diff --git a/src/modules/position_estimator_mc/module.mk b/src/modules/position_estimator_mc/module.mk deleted file mode 100644 index 40b135ea4f..0000000000 --- a/src/modules/position_estimator_mc/module.mk +++ /dev/null @@ -1,60 +0,0 @@ -############################################################################ -# -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. -# -# 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. -# -############################################################################ - -# -# Makefile to build the position estimator -# - -MODULE_COMMAND = position_estimator_mc - -SRCS = position_estimator_mc_main.c \ - position_estimator_mc_params.c \ - codegen/positionKalmanFilter1D_initialize.c \ - codegen/positionKalmanFilter1D_terminate.c \ - codegen/positionKalmanFilter1D.c \ - codegen/rt_nonfinite.c \ - codegen/rtGetInf.c \ - codegen/rtGetNaN.c \ - codegen/positionKalmanFilter1D_dT_initialize.c \ - codegen/positionKalmanFilter1D_dT_terminate.c \ - codegen/kalman_dlqe1.c \ - codegen/kalman_dlqe1_initialize.c \ - codegen/kalman_dlqe1_terminate.c \ - codegen/kalman_dlqe2.c \ - codegen/kalman_dlqe2_initialize.c \ - codegen/kalman_dlqe2_terminate.c \ - codegen/kalman_dlqe3.c \ - codegen/kalman_dlqe3_initialize.c \ - codegen/kalman_dlqe3_terminate.c \ - codegen/kalman_dlqe3_data.c \ - codegen/randn.c diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m deleted file mode 100755 index 144ff8c7c2..0000000000 --- a/src/modules/position_estimator_mc/positionKalmanFilter1D.m +++ /dev/null @@ -1,19 +0,0 @@ -function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D(A,B,C,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay) -%prediction - x_apriori=A*x_aposteriori_k+B*u; - P_apriori=A*P_aposteriori_k*A'+Q; - if abs(u) - * Tobias Naegeli -* Lorenz Meier - * - * 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 position_estimator_main.c - * Model-identification based position estimator for multirotors - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "position_estimator_mc_params.h" -//#include -#include "codegen/kalman_dlqe2.h" -#include "codegen/kalman_dlqe2_initialize.h" -#include "codegen/kalman_dlqe3.h" -#include "codegen/kalman_dlqe3_initialize.h" - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int position_estimator_mc_task; /**< Handle of deamon task / thread */ - -__EXPORT int position_estimator_mc_main(int argc, char *argv[]); - -int position_estimator_mc_thread_main(int argc, char *argv[]); -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static void -usage(const char *reason) -{ - if (reason) - warnx("%s\n", reason); - warnx("usage: position_estimator_mc {start|stop|status}"); - exit(1); -} - -/** - * The position_estimator_mc_thread only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int position_estimator_mc_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("position_estimator_mc already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - position_estimator_mc_task = task_spawn_cmd("position_estimator_mc", - SCHED_RR, - SCHED_PRIORITY_MAX - 5, - 4096, - position_estimator_mc_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - warnx("position_estimator_mc is running"); - } else { - warnx("position_estimator_mc not started"); - } - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -/**************************************************************************** - * main - ****************************************************************************/ -int position_estimator_mc_thread_main(int argc, char *argv[]) -{ - /* welcome user */ - warnx("[position_estimator_mc] started"); - int mavlink_fd; - mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - mavlink_log_info(mavlink_fd, "[position_estimator_mc] started"); - - /* initialize values */ - float z[3] = {0, 0, 0}; /* output variables from tangent plane mapping */ - // float rotMatrix[4] = {1.0f, 0.0f, 0.0f, 1.0f}; - float x_x_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; - float x_y_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; - float x_z_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; - float x_x_aposteriori[3] = {0.0f, 0.0f, 0.0f}; - float x_y_aposteriori[3] = {1.0f, 0.0f, 0.0f}; - float x_z_aposteriori[3] = {1.0f, 0.0f, 0.0f}; - - // XXX this is terribly wrong and should actual dT instead - const float dT_const_50 = 1.0f/50.0f; - - float addNoise = 0.0f; - float sigma = 0.0f; - //computed from dlqe in matlab - const float K_vicon_50Hz[3] = {0.5297f, 0.9873f, 0.9201f}; - // XXX implement baro filter - const float K_baro[3] = {0.0248f, 0.0377f, 0.0287f}; - float K[3] = {0.0f, 0.0f, 0.0f}; - int baro_loop_cnt = 0; - int baro_loop_end = 70; /* measurement for 1 second */ - float p0_Pa = 0.0f; /* to determin while start up */ - float rho0 = 1.293f; /* standard pressure */ - const float const_earth_gravity = 9.81f; - - float posX = 0.0f; - float posY = 0.0f; - float posZ = 0.0f; - - double lat_current; - double lon_current; - float alt_current; - - float gps_origin_altitude = 0.0f; - - /* Initialize filter */ - kalman_dlqe2_initialize(); - kalman_dlqe3_initialize(); - - /* declare and safely initialize all structs */ - struct sensor_combined_s sensor; - memset(&sensor, 0, sizeof(sensor)); - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); - struct vehicle_status_s vehicle_status; - memset(&vehicle_status, 0, sizeof(vehicle_status)); /* make sure that baroINITdone = false */ - struct vehicle_vicon_position_s vicon_pos; - memset(&vicon_pos, 0, sizeof(vicon_pos)); - struct actuator_controls_effective_s act_eff; - memset(&act_eff, 0, sizeof(act_eff)); - struct vehicle_gps_position_s gps; - memset(&gps, 0, sizeof(gps)); - struct vehicle_local_position_s local_pos_est; - memset(&local_pos_est, 0, sizeof(local_pos_est)); - struct vehicle_global_position_s global_pos_est; - memset(&global_pos_est, 0, sizeof(global_pos_est)); - - /* subscribe */ - int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - int sub_params = orb_subscribe(ORB_ID(parameter_update)); - int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - int actuator_eff_sub = orb_subscribe(ORB_ID(actuator_controls_effective_0)); - int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); - - /* advertise */ - orb_advert_t local_pos_est_pub = 0; - orb_advert_t global_pos_est_pub = 0; - - struct position_estimator_mc_params pos1D_params; - struct position_estimator_mc_param_handles pos1D_param_handles; - /* initialize parameter handles */ - parameters_init(&pos1D_param_handles); - - bool flag_use_gps = false; - bool flag_use_baro = false; - bool flag_baro_initialized = false; /* in any case disable baroINITdone */ - /* FIRST PARAMETER READ at START UP*/ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), sub_params, &update); /* read from param to clear updated flag */ - /* FIRST PARAMETER UPDATE */ - parameters_update(&pos1D_param_handles, &pos1D_params); - flag_use_baro = pos1D_params.baro; - sigma = pos1D_params.sigma; - addNoise = pos1D_params.addNoise; - /* END FIRST PARAMETER UPDATE */ - - /* try to grab a vicon message - if it fails, go for GPS. */ - - /* make sure the next orb_check() can't return true unless we get a timely update */ - orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos); - /* allow 200 ms for vicon to come in */ - usleep(200000); - /* check if we got vicon */ - bool update_check; - orb_check(vicon_pos_sub, &update_check); - /* if no update was available, use GPS */ - flag_use_gps = !update_check; - - if (flag_use_gps) { - mavlink_log_info(mavlink_fd, "[pos_est_mc] GPS locked"); - /* wait until gps signal turns valid, only then can we initialize the projection */ - - // XXX magic number - float hdop_threshold_m = 4.0f; - float vdop_threshold_m = 8.0f; - - /* - * If horizontal dilution of precision (hdop / eph) - * and vertical diluation of precision (vdop / epv) - * are below a certain threshold (e.g. 4 m), AND - * home position is not yet set AND the last GPS - * GPS measurement is not older than two seconds AND - * the system is currently not armed, set home - * position to the current position. - */ - - while (!(gps.fix_type == 3 - && (gps.eph_m < hdop_threshold_m) - && (gps.epv_m < vdop_threshold_m) - && (hrt_absolute_time() - gps.timestamp_position < 2000000))) { - - struct pollfd fds1[2] = { - { .fd = vehicle_gps_sub, .events = POLLIN }, - { .fd = sub_params, .events = POLLIN }, - }; - - /* wait for GPS updates, BUT READ VEHICLE STATUS (!) - * this choice is critical, since the vehicle status might not - * actually change, if this app is started after GPS lock was - * aquired. - */ - if (poll(fds1, 2, 5000)) { - if (fds1[0].revents & POLLIN){ - /* Read gps position */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - } - if (fds1[1].revents & POLLIN){ - /* Read out parameters to check for an update there, e.g. useGPS variable */ - /* read from param to clear updated flag */ - struct parameter_update_s updated; - orb_copy(ORB_ID(parameter_update), sub_params, &updated); - /* update parameters */ - parameters_update(&pos1D_param_handles, &pos1D_params); - } - } - static int printcounter = 0; - if (printcounter == 100) { - printcounter = 0; - warnx("[pos_est_mc] wait for GPS fix"); - } - printcounter++; - } - - /* get gps value for first initialization */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - lat_current = ((double)(gps.lat)) * 1e-7d; - lon_current = ((double)(gps.lon)) * 1e-7d; - alt_current = gps.alt * 1e-3f; - gps_origin_altitude = alt_current; - /* initialize coordinates */ - map_projection_init(lat_current, lon_current); - /* publish global position messages only after first GPS message */ - printf("[pos_est_mc] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current); - - } else { - mavlink_log_info(mavlink_fd, "[pos_est_mc] I'm NOT using GPS - I use VICON"); - /* onboard calculated position estimations */ - } - thread_running = true; - - struct pollfd fds2[3] = { - { .fd = vehicle_gps_sub, .events = POLLIN }, - { .fd = vicon_pos_sub, .events = POLLIN }, - { .fd = sub_params, .events = POLLIN }, - }; - - bool vicon_updated = false; - bool gps_updated = false; - - /**< main_loop */ - while (!thread_should_exit) { - int ret = poll(fds2, 3, 20); //wait maximal this 20 ms = 50 Hz minimum rate - if (ret < 0) { - /* poll error */ - } else { - if (fds2[2].revents & POLLIN){ - /* new parameter */ - /* read from param to clear updated flag */ - struct parameter_update_s updated; - orb_copy(ORB_ID(parameter_update), sub_params, &updated); - /* update parameters */ - parameters_update(&pos1D_param_handles, &pos1D_params); - flag_use_baro = pos1D_params.baro; - sigma = pos1D_params.sigma; - addNoise = pos1D_params.addNoise; - } - vicon_updated = false; /* default is no vicon_updated */ - if (fds2[1].revents & POLLIN) { - /* new vicon position */ - orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos); - posX = vicon_pos.x; - posY = vicon_pos.y; - posZ = vicon_pos.z; - vicon_updated = true; /* set flag for vicon update */ - } /* end of poll call for vicon updates */ - gps_updated = false; - if (fds2[0].revents & POLLIN) { - /* new GPS value */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - /* Project gps lat lon (Geographic coordinate system) to plane*/ - map_projection_project(((double)(gps.lat)) * 1e-7d, ((double)(gps.lon)) * 1e-7d, &(z[0]), &(z[1])); - posX = z[0]; - posY = z[1]; - posZ = (float)(gps.alt * 1e-3f); - gps_updated = true; - } - - /* Main estimator loop */ - orb_copy(ORB_ID(actuator_controls_effective_0), actuator_eff_sub, &act_eff); - orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status); - orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor); - // barometric pressure estimation at start up - if (!flag_baro_initialized){ - // mean calculation over several measurements - if (baro_loop_cnt 2) { - /* x-y-position/velocity estimation in earth frame = gps frame */ - kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,gps_updated,0.0f,0.0f,x_x_aposteriori); - memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori)); - kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,gps_updated,0.0f,0.0f,x_y_aposteriori); - memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori)); - /* z-position/velocity estimation in earth frame = vicon frame */ - float z_est = 0.0f; - if (flag_baro_initialized && flag_use_baro) { - z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100))/(rho0*const_earth_gravity); - K[0] = K_vicon_50Hz[0]; - K[1] = K_vicon_50Hz[1]; - K[2] = K_vicon_50Hz[2]; - gps_updated = 1.0f; /* always enable the update, cause baro update = 200 Hz */ - } else { - z_est = posZ; - K[0] = K_vicon_50Hz[0]; - K[1] = K_vicon_50Hz[1]; - K[2] = K_vicon_50Hz[2]; - } - - kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,gps_updated,0.0f,0.0f,x_z_aposteriori); - memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori)); - local_pos_est.x = x_x_aposteriori_k[0]; - local_pos_est.vx = x_x_aposteriori_k[1]; - local_pos_est.y = x_y_aposteriori_k[0]; - local_pos_est.vy = x_y_aposteriori_k[1]; - local_pos_est.z = x_z_aposteriori_k[0]; - local_pos_est.vz = x_z_aposteriori_k[1]; - local_pos_est.timestamp = hrt_absolute_time(); - if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))) { - /* publish local position estimate */ - if (local_pos_est_pub > 0) { - orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est); - } else { - local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est); - } - /* publish on GPS updates */ - if (gps_updated) { - - double lat, lon; - float alt = z_est + gps_origin_altitude; - - map_projection_reproject(local_pos_est.x, local_pos_est.y, &lat, &lon); - - global_pos_est.lat = lat; - global_pos_est.lon = lon; - global_pos_est.alt = alt; - - if (global_pos_est_pub > 0) { - orb_publish(ORB_ID(vehicle_global_position), global_pos_est_pub, &global_pos_est); - } else { - global_pos_est_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos_est); - } - } - } - } - } else { - /* x-y-position/velocity estimation in earth frame = vicon frame */ - kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,vicon_updated,addNoise,sigma,x_x_aposteriori); - memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori)); - kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,vicon_updated,addNoise,sigma,x_y_aposteriori); - memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori)); - /* z-position/velocity estimation in earth frame = vicon frame */ - float z_est = 0.0f; - float local_sigma = 0.0f; - if (flag_baro_initialized && flag_use_baro) { - z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100.0f))/(rho0*const_earth_gravity); - K[0] = K_vicon_50Hz[0]; - K[1] = K_vicon_50Hz[1]; - K[2] = K_vicon_50Hz[2]; - vicon_updated = 1; /* always enable the update, cause baro update = 200 Hz */ - local_sigma = 0.0f; /* don't add noise on barometer in any case */ - } else { - z_est = posZ; - K[0] = K_vicon_50Hz[0]; - K[1] = K_vicon_50Hz[1]; - K[2] = K_vicon_50Hz[2]; - local_sigma = sigma; - } - kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,vicon_updated,addNoise,local_sigma,x_z_aposteriori); - memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori)); - local_pos_est.x = x_x_aposteriori_k[0]; - local_pos_est.vx = x_x_aposteriori_k[1]; - local_pos_est.y = x_y_aposteriori_k[0]; - local_pos_est.vy = x_y_aposteriori_k[1]; - local_pos_est.z = x_z_aposteriori_k[0]; - local_pos_est.vz = x_z_aposteriori_k[1]; - local_pos_est.timestamp = hrt_absolute_time(); - if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))){ - if(local_pos_est_pub > 0) - orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est); - else - local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est); - //char buf[0xff]; sprintf(buf,"[pos_est_mc] x:%f, y:%f, z:%f",x_x_aposteriori_k[0],x_y_aposteriori_k[0],x_z_aposteriori_k[0]); - //mavlink_log_info(mavlink_fd, buf); - } - } - } /* end of poll return value check */ - } - - printf("[pos_est_mc] exiting.\n"); - mavlink_log_info(mavlink_fd, "[pos_est_mc] exiting"); - thread_running = false; - return 0; -} diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 941500f0d9..62e6b12cbc 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -134,8 +134,6 @@ controls_tick() { perf_begin(c_gather_sbus); - bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS); - bool sbus_failsafe, sbus_frame_drop; bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS); @@ -201,94 +199,105 @@ controls_tick() { /* update RC-received timestamp */ system_state.rc_channels_timestamp_received = hrt_absolute_time(); - /* do not command anything in failsafe, kick in the RC loss counter */ - if (!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { + /* update RC-received timestamp */ + system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received; - /* update RC-received timestamp */ - system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received; + /* map raw inputs to mapped inputs */ + /* XXX mapping should be atomic relative to protocol */ + for (unsigned i = 0; i < r_raw_rc_count; i++) { - /* map raw inputs to mapped inputs */ - /* XXX mapping should be atomic relative to protocol */ - for (unsigned i = 0; i < r_raw_rc_count; i++) { + /* map the input channel */ + uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; - /* map the input channel */ - uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { + uint16_t raw = r_raw_rc_values[i]; - uint16_t raw = r_raw_rc_values[i]; + int16_t scaled; - int16_t scaled; + /* + * 1) Constrain to min/max values, as later processing depends on bounds. + */ + if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) + raw = conf[PX4IO_P_RC_CONFIG_MIN]; + if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) + raw = conf[PX4IO_P_RC_CONFIG_MAX]; - /* - * 1) Constrain to min/max values, as later processing depends on bounds. - */ - if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) - raw = conf[PX4IO_P_RC_CONFIG_MIN]; - if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) - raw = conf[PX4IO_P_RC_CONFIG_MAX]; + /* + * 2) Scale around the mid point differently for lower and upper range. + * + * This is necessary as they don't share the same endpoints and slope. + * + * First normalize to 0..1 range with correct sign (below or above center), + * then scale to 20000 range (if center is an actual center, -10000..10000, + * if parameters only support half range, scale to 10000 range, e.g. if + * center == min 0..10000, if center == max -10000..0). + * + * As the min and max bounds were enforced in step 1), division by zero + * cannot occur, as for the case of center == min or center == max the if + * statement is mutually exclusive with the arithmetic NaN case. + * + * DO NOT REMOVE OR ALTER STEP 1! + */ + if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); - /* - * 2) Scale around the mid point differently for lower and upper range. - * - * This is necessary as they don't share the same endpoints and slope. - * - * First normalize to 0..1 range with correct sign (below or above center), - * then scale to 20000 range (if center is an actual center, -10000..10000, - * if parameters only support half range, scale to 10000 range, e.g. if - * center == min 0..10000, if center == max -10000..0). - * - * As the min and max bounds were enforced in step 1), division by zero - * cannot occur, as for the case of center == min or center == max the if - * statement is mutually exclusive with the arithmetic NaN case. - * - * DO NOT REMOVE OR ALTER STEP 1! - */ - if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); + } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); - } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); + } else { + /* in the configured dead zone, output zero */ + scaled = 0; + } - } else { - /* in the configured dead zone, output zero */ - scaled = 0; - } + /* invert channel if requested */ + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) { + scaled = -scaled; + } - /* invert channel if requested */ - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) + /* and update the scaled/mapped version */ + unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; + if (mapped < PX4IO_CONTROL_CHANNELS) { + + /* invert channel if pitch - pulling the lever down means pitching up by convention */ + if (mapped == 1) { + /* roll, pitch, yaw, throttle, override is the standard order */ scaled = -scaled; - - /* and update the scaled/mapped version */ - unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - if (mapped < PX4IO_CONTROL_CHANNELS) { - - /* invert channel if pitch - pulling the lever down means pitching up by convention */ - if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ - scaled = -scaled; - - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); - } + + if (mapped == 3 && r_setup_rc_thr_failsafe) { + /* throttle failsafe detection */ + if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) || + ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + } + } + + r_rc_values[mapped] = SIGNED_TO_REG(scaled); + assigned_channels |= (1 << mapped); + } } + } - /* set un-assigned controls to zero */ - for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { - if (!(assigned_channels & (1 << i))) - r_rc_values[i] = 0; + /* set un-assigned controls to zero */ + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { + if (!(assigned_channels & (1 << i))) { + r_rc_values[i] = 0; } + } - /* set RC OK flag, as we got an update */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + /* set RC OK flag, as we got an update */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK; - /* if we have enough channels (5) to control the vehicle, the mapping is ok */ - if (assigned_channels > 4) { - r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; - } else { - r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); - } + /* if we have enough channels (5) to control the vehicle, the mapping is ok */ + if (assigned_channels > 4) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); } /* @@ -316,37 +325,42 @@ controls_tick() { * Handle losing RC input */ - /* this kicks in if the receiver is gone or the system went to failsafe */ - if (rc_input_lost || (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { + /* if we are in failsafe, clear the override flag */ + if (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) { + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); + } + + /* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */ + if (rc_input_lost) { /* Clear the RC input status flag, clear manual override flag */ r_status_flags &= ~( PX4IO_P_STATUS_FLAGS_OVERRIDE | PX4IO_P_STATUS_FLAGS_RC_OK); + /* flag raw RC as lost */ + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK); + /* Mark all channels as invalid, as we just lost the RX */ r_rc_valid = 0; + /* Set raw channel count to zero */ + r_raw_rc_count = 0; + /* Set the RC_LOST alarm */ r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; } - /* this kicks in if the receiver is completely gone */ - if (rc_input_lost) { - - /* Set channel count to zero */ - r_raw_rc_count = 0; - } - /* * Check for manual override. * * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we - * must have R/C input. + * must have R/C input (NO FAILSAFE!). * Override is enabled if either the hardcoded channel / value combination * is selected, or the AP has requested it. */ if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && + !(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { bool override = false; @@ -369,10 +383,10 @@ controls_tick() { mixer_tick(); } else { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); } } else { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); } } @@ -395,8 +409,9 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len) if (*num_values > PX4IO_RC_INPUT_CHANNELS) *num_values = PX4IO_RC_INPUT_CHANNELS; - for (unsigned i = 0; i < *num_values; i++) + for (unsigned i = 0; i < *num_values; i++) { values[i] = ppm_buffer[i]; + } /* clear validity */ ppm_last_valid_decode = 0; diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 6a44294619..ebf4f3e8e9 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -254,10 +254,25 @@ mixer_tick(void) for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) up_pwm_servo_set(i, r_page_servos[i]); + /* set S.BUS1 or S.BUS2 outputs */ + + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { + sbus2_output(r_page_servos, PX4IO_SERVO_COUNT); + } else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { + sbus1_output(r_page_servos, PX4IO_SERVO_COUNT); + } + } else if (mixer_servos_armed && should_always_enable_pwm) { /* set the disarmed servo outputs. */ for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) up_pwm_servo_set(i, r_page_servo_disarmed[i]); + + /* set S.BUS1 or S.BUS2 outputs */ + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) + sbus1_output(r_page_servos, PX4IO_SERVO_COUNT); + + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) + sbus2_output(r_page_servos, PX4IO_SERVO_COUNT); } } @@ -267,7 +282,7 @@ mixer_callback(uintptr_t handle, uint8_t control_index, float &control) { - if (control_group > 3) + if (control_group >= PX4IO_CONTROL_GROUPS) return -1; switch (source) { diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index d48c6c5297..7471faec7b 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -142,6 +142,7 @@ #define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */ #define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */ #define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */ +#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */ #define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ #define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ @@ -164,10 +165,10 @@ /* setup page */ #define PX4IO_PAGE_SETUP 50 #define PX4IO_P_SETUP_FEATURES 0 -#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /* enable S.Bus v1 output */ -#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /* enable S.Bus v2 output */ -#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /* enable PWM RSSI parsing */ -#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /* enable ADC RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */ +#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */ +#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */ #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ @@ -189,6 +190,8 @@ #define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */ #define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */ #define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */ +#else +#define PX4IO_P_SETUP_RELAYS_PAD 5 #endif #define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */ @@ -201,26 +204,33 @@ enum { /* DSM bind states */ dsm_bind_send_pulses, dsm_bind_reinit_uart }; - /* 8 */ -#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ + /* 8 */ +#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ -#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ -#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ +#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ +#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ -#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ +#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ + /* storage space of 12 occupied by CRC */ +#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into + 'armed' (PWM enabled) state - this is a non-data write and + hence index 12 can safely be used. */ +#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */ + +#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */ /* autopilot control values, -10000..10000 */ -#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ +#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ #define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_VALID 64 -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /* group 0 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /* group 1 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /* group 2 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /* group 3 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */ /* raw text load to the mixer parser - ignores offset */ #define PX4IO_PAGE_MIXERLOAD 52 diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index bb224f3880..ca175bfbc3 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -53,7 +53,7 @@ */ #define PX4IO_SERVO_COUNT 8 #define PX4IO_CONTROL_CHANNELS 8 -#define PX4IO_CONTROL_GROUPS 2 +#define PX4IO_CONTROL_GROUPS 4 #define PX4IO_RC_INPUT_CHANNELS 18 #define PX4IO_RC_MAPPED_CONTROL_CHANNELS 8 /**< This is the maximum number of channels mapped/used */ @@ -108,6 +108,7 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */ #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 #define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS] #endif +#define r_setup_rc_thr_failsafe r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] #define r_control_values (&r_page_controls[0]) @@ -218,6 +219,8 @@ extern bool dsm_input(uint16_t *values, uint16_t *num_values); extern void dsm_bind(uint16_t cmd, int pulses); extern int sbus_init(const char *device); extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); +extern bool sbus1_output(uint16_t *values, uint16_t num_values); +extern bool sbus2_output(uint16_t *values, uint16_t num_values); /** global debug level for isr_debug() */ extern volatile uint8_t debug_level; diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 97d25bbfa8..db1836f4a5 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -160,6 +160,9 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_ALTRATE] = 200, #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 [PX4IO_P_SETUP_RELAYS] = 0, +#else + /* this is unused, but we will pad it for readability (the compiler pads it automatically) */ + [PX4IO_P_SETUP_RELAYS_PAD] = 0, #endif #ifdef ADC_VSERVO [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, @@ -169,6 +172,7 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_SET_DEBUG] = 0, [PX4IO_P_SETUP_REBOOT_BL] = 0, [PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0, + [PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = 0, }; #ifdef CONFIG_ARCH_BOARD_PX4IO_V2 @@ -462,9 +466,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) #ifdef ENABLE_SBUS_OUT ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)); - /* disable the conflicting options */ - if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) { - value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | PX4IO_P_SETUP_FEATURES_ADC_RSSI); + /* disable the conflicting options with SBUS 1 */ + if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT)) { + value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | + PX4IO_P_SETUP_FEATURES_ADC_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS2_OUT); + } + + /* disable the conflicting options with SBUS 2 */ + if (value & (PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) { + value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | + PX4IO_P_SETUP_FEATURES_ADC_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS1_OUT); } #endif @@ -513,18 +526,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_PWM_DEFAULTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate); break; case PX4IO_P_SETUP_PWM_ALTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value); break; @@ -556,8 +573,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) } // check the magic value - if (value != PX4IO_REBOOT_BL_MAGIC) + if (value != PX4IO_REBOOT_BL_MAGIC) { break; + } // we schedule a reboot rather than rebooting // immediately to allow the IO board to ACK @@ -569,6 +587,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) dsm_bind(value & 0x0f, (value >> 4) & 0xF); break; + case PX4IO_P_SETUP_FORCE_SAFETY_OFF: + if (value == PX4IO_FORCE_SAFETY_MAGIC) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; + } + break; + + case PX4IO_P_SETUP_RC_THR_FAILSAFE_US: + if (value > 650 && value < 2350) { + r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value; + } + break; + default: return -1; } diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index f6ec542eb0..0e7dc621cf 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -93,7 +93,7 @@ int sbus_init(const char *device) { if (sbus_fd < 0) - sbus_fd = open(device, O_RDONLY | O_NONBLOCK); + sbus_fd = open(device, O_RDWR | O_NONBLOCK); if (sbus_fd >= 0) { struct termios t; @@ -113,10 +113,21 @@ sbus_init(const char *device) } else { debug("S.Bus: open failed"); } - return sbus_fd; } +bool +sbus1_output(uint16_t *values, uint16_t num_values) +{ + write(sbus_fd, 'A', 1); +} + +bool +sbus2_output(uint16_t *values, uint16_t num_values) +{ + write(sbus_fd, 'B', 1); +} + bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels) { diff --git a/src/modules/sdlog/module.mk b/src/modules/sdlog/module.mk deleted file mode 100644 index 89da2d8273..0000000000 --- a/src/modules/sdlog/module.mk +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. -# -# 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. -# -############################################################################ - -# -# sdlog Application -# - -MODULE_COMMAND = sdlog -# The main thread only buffers to RAM, needs a high priority -MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30" - -SRCS = sdlog.c \ - sdlog_ringbuffer.c diff --git a/src/modules/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c deleted file mode 100644 index c22523bf2e..0000000000 --- a/src/modules/sdlog/sdlog.c +++ /dev/null @@ -1,840 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * 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 sdlog.c - * @author Lorenz Meier - * - * Simple SD logger for flight data. Buffers new sensor values and - * does the heavy SD I/O in a low-priority worker thread. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include - -#include "sdlog_ringbuffer.h" - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ -static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */ - -static const char *mountpoint = "/fs/microsd"; -static const char *mfile_in = "/etc/logging/logconv.m"; -int sysvector_file = -1; -int mavlink_fd = -1; -struct sdlog_logbuffer lb; - -/* mutex / condition to synchronize threads */ -pthread_mutex_t sysvector_mutex; -pthread_cond_t sysvector_cond; - -/** - * System state vector log buffer writing - */ -static void *sdlog_sysvector_write_thread(void *arg); - -/** - * Create the thread to write the system vector - */ -pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf); - -/** - * SD log management function. - */ -__EXPORT int sdlog_main(int argc, char *argv[]); - -/** - * Mainloop of sd log deamon. - */ -int sdlog_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static int file_exist(const char *filename); - -static int file_copy(const char *file_old, const char *file_new); - -static void handle_command(struct vehicle_command_s *cmd); - -/** - * Print the current status. - */ -static void print_sdlog_status(void); - -/** - * Create folder for current logging session. - */ -static int create_logfolder(char *folder_path); - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - errx(1, "usage: sdlog {start|stop|status} [-s ]\n\n"); -} - -// XXX turn this into a C++ class -unsigned sensor_combined_bytes = 0; -unsigned actuator_outputs_bytes = 0; -unsigned actuator_controls_bytes = 0; -unsigned sysvector_bytes = 0; -unsigned blackbox_file_bytes = 0; -uint64_t starttime = 0; - -/* logging on or off, default to true */ -bool logging_enabled = true; - -/** - * The sd log deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_spawn_cmd(). - */ -int sdlog_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("sdlog already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn_cmd("sdlog", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT - 30, - 4096, - sdlog_thread_main, - (const char **)argv); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - if (!thread_running) { - printf("\tsdlog is not started\n"); - } - - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - print_sdlog_status(); - - } else { - printf("\tsdlog not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -int create_logfolder(char *folder_path) -{ - /* make folder on sdcard */ - uint16_t foldernumber = 1; // start with folder 0001 - int mkdir_ret; - - /* look for the next folder that does not exist */ - while (foldernumber < MAX_NO_LOGFOLDER) { - /* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */ - sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber); - mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO); - /* the result is -1 if the folder exists */ - - if (mkdir_ret == 0) { - /* folder does not exist, success */ - - /* now copy the Matlab/Octave file */ - char mfile_out[100]; - sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber); - int ret = file_copy(mfile_in, mfile_out); - - if (!ret) { - warnx("copied m file to %s", mfile_out); - - } else { - warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out); - } - - break; - - } else if (mkdir_ret == -1) { - /* folder exists already */ - foldernumber++; - continue; - - } else { - warn("failed creating new folder"); - return -1; - } - } - - if (foldernumber >= MAX_NO_LOGFOLDER) { - /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */ - warn("all %d possible folders exist already", MAX_NO_LOGFOLDER); - return -1; - } - - return 0; -} - - -static void * -sdlog_sysvector_write_thread(void *arg) -{ - /* set name */ - prctl(PR_SET_NAME, "sdlog microSD I/O", 0); - - struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg; - - int poll_count = 0; - struct sdlog_sysvector sysvect; - memset(&sysvect, 0, sizeof(sysvect)); - - while (!thread_should_exit) { - - /* make sure threads are synchronized */ - pthread_mutex_lock(&sysvector_mutex); - - /* only wait if no data is available to process */ - if (sdlog_logbuffer_is_empty(logbuf)) { - /* blocking wait for new data at this line */ - pthread_cond_wait(&sysvector_cond, &sysvector_mutex); - } - - /* only quickly load data, do heavy I/O a few lines down */ - int ret = sdlog_logbuffer_read(logbuf, &sysvect); - /* continue */ - pthread_mutex_unlock(&sysvector_mutex); - - if (ret == OK) { - sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect)); - } - - if (poll_count % 100 == 0) { - fsync(sysvector_file); - } - - poll_count++; - } - - fsync(sysvector_file); - - return OK; -} - -pthread_t -sysvector_write_start(struct sdlog_logbuffer *logbuf) -{ - pthread_attr_t receiveloop_attr; - pthread_attr_init(&receiveloop_attr); - - struct sched_param param; - /* low priority, as this is expensive disk I/O */ - param.sched_priority = SCHED_PRIORITY_DEFAULT - 40; - (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - - pthread_attr_setstacksize(&receiveloop_attr, 2048); - - pthread_t thread; - pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf); - return thread; - - // XXX we have to destroy the attr at some point -} - - -int sdlog_thread_main(int argc, char *argv[]) -{ - mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - if (mavlink_fd < 0) { - warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); - } - - /* log every n'th value (skip three per default) */ - int skip_value = 3; - - /* work around some stupidity in task_create's argv handling */ - argc -= 2; - argv += 2; - int ch; - - while ((ch = getopt(argc, argv, "s:r")) != EOF) { - switch (ch) { - case 's': - { - /* log only every n'th (gyro clocked) value */ - unsigned s = strtoul(optarg, NULL, 10); - - if (s < 1 || s > 250) { - errx(1, "Wrong skip value of %d, out of range (1..250)\n", s); - } else { - skip_value = s; - } - } - break; - - case 'r': - /* log only on request, disable logging per default */ - logging_enabled = false; - break; - - case '?': - if (optopt == 'c') { - warnx("Option -%c requires an argument.\n", optopt); - } else if (isprint(optopt)) { - warnx("Unknown option `-%c'.\n", optopt); - } else { - warnx("Unknown option character `\\x%x'.\n", optopt); - } - - default: - usage("unrecognized flag"); - errx(1, "exiting."); - } - } - - if (file_exist(mountpoint) != OK) { - errx(1, "logging mount point %s not present, exiting.", mountpoint); - } - - char folder_path[64]; - - if (create_logfolder(folder_path)) - errx(1, "unable to create logging folder, exiting."); - - FILE *gpsfile; - FILE *blackbox_file; - - /* string to hold the path to the sensorfile */ - char path_buf[64] = ""; - - /* only print logging path, important to find log file later */ - warnx("logging to directory %s\n", folder_path); - - /* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */ - sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector"); - - if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) { - errx(1, "opening %s failed.\n", path_buf); - } - - /* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */ - sprintf(path_buf, "%s/%s.txt", folder_path, "gps"); - - if (NULL == (gpsfile = fopen(path_buf, "w"))) { - errx(1, "opening %s failed.\n", path_buf); - } - - int gpsfile_no = fileno(gpsfile); - - /* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */ - sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox"); - - if (NULL == (blackbox_file = fopen(path_buf, "w"))) { - errx(1, "opening %s failed.\n", path_buf); - } - - // XXX for fsync() calls - int blackbox_file_no = fileno(blackbox_file); - - /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 25; - /* Sanity check variable and index */ - ssize_t fdsc_count = 0; - /* file descriptors to wait for */ - struct pollfd fds[fdsc]; - - - struct { - struct sensor_combined_s raw; - struct vehicle_attitude_s att; - struct vehicle_attitude_setpoint_s att_sp; - struct actuator_outputs_s act_outputs; - struct actuator_controls_s act_controls; - struct actuator_controls_effective_s act_controls_effective; - struct vehicle_command_s cmd; - struct vehicle_local_position_s local_pos; - struct vehicle_global_position_s global_pos; - struct vehicle_gps_position_s gps_pos; - struct vehicle_vicon_position_s vicon_pos; - struct optical_flow_s flow; - struct battery_status_s batt; - struct differential_pressure_s diff_pres; - struct airspeed_s airspeed; - } buf; - memset(&buf, 0, sizeof(buf)); - - struct { - int cmd_sub; - int sensor_sub; - int att_sub; - int spa_sub; - int act_0_sub; - int controls_0_sub; - int controls_effective_0_sub; - int local_pos_sub; - int global_pos_sub; - int gps_pos_sub; - int vicon_pos_sub; - int flow_sub; - int batt_sub; - int diff_pres_sub; - int airspeed_sub; - } subs; - - /* --- MANAGEMENT - LOGGING COMMAND --- */ - /* subscribe to ORB for vehicle command */ - subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); - fds[fdsc_count].fd = subs.cmd_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GPS POSITION --- */ - /* subscribe to ORB for global position */ - subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - fds[fdsc_count].fd = subs.gps_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- SENSORS RAW VALUE --- */ - /* subscribe to ORB for sensors raw */ - subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - fds[fdsc_count].fd = subs.sensor_sub; - /* do not rate limit, instead use skip counter (aliasing on rate limit) */ - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE VALUE --- */ - /* subscribe to ORB for attitude */ - subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - fds[fdsc_count].fd = subs.att_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE SETPOINT VALUE --- */ - /* subscribe to ORB for attitude setpoint */ - /* struct already allocated */ - subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - fds[fdsc_count].fd = subs.spa_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /** --- ACTUATOR OUTPUTS --- */ - subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0)); - fds[fdsc_count].fd = subs.act_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR CONTROL VALUE --- */ - /* subscribe to ORB for actuator control */ - subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - fds[fdsc_count].fd = subs.controls_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */ - /* subscribe to ORB for actuator control */ - subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); - fds[fdsc_count].fd = subs.controls_effective_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- LOCAL POSITION --- */ - /* subscribe to ORB for local position */ - subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - fds[fdsc_count].fd = subs.local_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GLOBAL POSITION --- */ - /* subscribe to ORB for global position */ - subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - fds[fdsc_count].fd = subs.global_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- VICON POSITION --- */ - /* subscribe to ORB for vicon position */ - subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - fds[fdsc_count].fd = subs.vicon_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- FLOW measurements --- */ - /* subscribe to ORB for flow measurements */ - subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); - fds[fdsc_count].fd = subs.flow_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- BATTERY STATUS --- */ - /* subscribe to ORB for flow measurements */ - subs.batt_sub = orb_subscribe(ORB_ID(battery_status)); - fds[fdsc_count].fd = subs.batt_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- DIFFERENTIAL PRESSURE --- */ - /* subscribe to ORB for flow measurements */ - subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); - fds[fdsc_count].fd = subs.diff_pres_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- AIRSPEED --- */ - /* subscribe to ORB for airspeed */ - subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); - fds[fdsc_count].fd = subs.airspeed_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* WARNING: If you get the error message below, - * then the number of registered messages (fdsc) - * differs from the number of messages in the above list. - */ - if (fdsc_count > fdsc) { - warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__); - fdsc_count = fdsc; - } - - /* - * set up poll to block for new data, - * wait for a maximum of 1000 ms (1 second) - */ - // const int timeout = 1000; - - thread_running = true; - - /* initialize log buffer with a size of 10 */ - sdlog_logbuffer_init(&lb, 10); - - /* initialize thread synchronization */ - pthread_mutex_init(&sysvector_mutex, NULL); - pthread_cond_init(&sysvector_cond, NULL); - - /* start logbuffer emptying thread */ - pthread_t sysvector_pthread = sysvector_write_start(&lb); - - starttime = hrt_absolute_time(); - - /* track skipping */ - int skip_count = 0; - - while (!thread_should_exit) { - - /* only poll for commands, gps and sensor_combined */ - int poll_ret = poll(fds, 3, 1000); - - /* handle the poll result */ - if (poll_ret == 0) { - /* XXX this means none of our providers is giving us data - might be an error? */ - } else if (poll_ret < 0) { - /* XXX this is seriously bad - should be an emergency */ - } else { - - int ifds = 0; - - /* --- VEHICLE COMMAND VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - /* copy command into local buffer */ - orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd); - - /* always log to blackbox, even when logging disabled */ - blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d, - buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4, - (double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7); - - handle_command(&buf.cmd); - } - - /* --- VEHICLE GPS VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - /* copy gps position into local buffer */ - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); - - /* if logging disabled, continue */ - if (logging_enabled) { - - /* write KML line */ - } - } - - /* --- SENSORS RAW VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - - // /* copy sensors raw data into local buffer */ - // orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); - // /* write out */ - // sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw)); - - /* always copy sensors raw data into local buffer, since poll flags won't clear else */ - orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls); - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective); - orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs); - orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp); - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); - orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); - orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); - orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); - orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); - orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - orb_copy(ORB_ID(differential_pressure), subs.diff_pres_sub, &buf.diff_pres); - orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); - orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); - - /* if skipping is on or logging is disabled, ignore */ - if (skip_count < skip_value || !logging_enabled) { - skip_count++; - /* do not log data */ - continue; - } else { - /* log data, reset */ - skip_count = 0; - } - - struct sdlog_sysvector sysvect = { - .timestamp = buf.raw.timestamp, - .gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]}, - .accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]}, - .mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]}, - .baro = buf.raw.baro_pres_mbar, - .baro_alt = buf.raw.baro_alt_meter, - .baro_temp = buf.raw.baro_temp_celcius, - .control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]}, - .actuators = { - buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], - buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7] - }, - .vbat = buf.batt.voltage_v, - .bat_current = buf.batt.current_a, - .bat_discharged = buf.batt.discharged_mah, - .adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]}, - .local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}, - .gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}, - .attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw}, - .rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]}, - .vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw}, - .control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]}, - .flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}, - .diff_pressure = buf.diff_pres.differential_pressure_pa, - .ind_airspeed = buf.airspeed.indicated_airspeed_m_s, - .true_airspeed = buf.airspeed.true_airspeed_m_s - }; - - /* put into buffer for later IO */ - pthread_mutex_lock(&sysvector_mutex); - sdlog_logbuffer_write(&lb, &sysvect); - /* signal the other thread new data, but not yet unlock */ - if ((unsigned)lb.count > (lb.size / 2)) { - /* only request write if several packets can be written at once */ - pthread_cond_signal(&sysvector_cond); - } - /* unlock, now the writer thread may run */ - pthread_mutex_unlock(&sysvector_mutex); - } - - } - - } - - print_sdlog_status(); - - /* wake up write thread one last time */ - pthread_mutex_lock(&sysvector_mutex); - pthread_cond_signal(&sysvector_cond); - /* unlock, now the writer thread may return */ - pthread_mutex_unlock(&sysvector_mutex); - - /* wait for write thread to return */ - (void)pthread_join(sysvector_pthread, NULL); - - pthread_mutex_destroy(&sysvector_mutex); - pthread_cond_destroy(&sysvector_cond); - - warnx("exiting.\n\n"); - - /* finish KML file */ - // XXX - fclose(gpsfile); - fclose(blackbox_file); - - thread_running = false; - - return 0; -} - -void print_sdlog_status() -{ - unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes; - float mebibytes = bytes / 1024.0f / 1024.0f; - float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f; - - warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds)); -} - -/** - * @return 0 if file exists - */ -int file_exist(const char *filename) -{ - struct stat buffer; - return stat(filename, &buffer); -} - -int file_copy(const char *file_old, const char *file_new) -{ - FILE *source, *target; - source = fopen(file_old, "r"); - int ret = 0; - - if (source == NULL) { - warnx("failed opening input file to copy"); - return 1; - } - - target = fopen(file_new, "w"); - - if (target == NULL) { - fclose(source); - warnx("failed to open output file to copy"); - return 1; - } - - char buf[128]; - int nread; - - while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) { - int ret = fwrite(buf, 1, nread, target); - - if (ret <= 0) { - warnx("error writing file"); - ret = 1; - break; - } - } - - fsync(fileno(target)); - - fclose(source); - fclose(target); - - return ret; -} - -void handle_command(struct vehicle_command_s *cmd) -{ - /* result of the command */ - uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; - - /* request to set different system mode */ - switch (cmd->command) { - - case VEHICLE_CMD_PREFLIGHT_STORAGE: - - if (((int)(cmd->param3)) == 1) { - - /* enable logging */ - mavlink_log_info(mavlink_fd, "[log] file:"); - mavlink_log_info(mavlink_fd, "logdir"); - logging_enabled = true; - } - if (((int)(cmd->param3)) == 0) { - - /* disable logging */ - mavlink_log_info(mavlink_fd, "[log] stopped."); - logging_enabled = false; - } - break; - - default: - /* silently ignore */ - break; - } - -} diff --git a/src/modules/sdlog/sdlog_ringbuffer.h b/src/modules/sdlog/sdlog_ringbuffer.h deleted file mode 100644 index b65916459e..0000000000 --- a/src/modules/sdlog/sdlog_ringbuffer.h +++ /dev/null @@ -1,91 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * 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 sdlog_ringbuffer.h - * microSD logging - * - * @author Lorenz Meier - */ - -#ifndef SDLOG_RINGBUFFER_H_ -#define SDLOG_RINGBUFFER_H_ - -#pragma pack(push, 1) -struct sdlog_sysvector { - uint64_t timestamp; /**< time [us] */ - float gyro[3]; /**< [rad/s] */ - float accel[3]; /**< [m/s^2] */ - float mag[3]; /**< [gauss] */ - float baro; /**< pressure [millibar] */ - float baro_alt; /**< altitude above MSL [meter] */ - float baro_temp; /**< [degree celcius] */ - float control[4]; /**< roll, pitch, yaw [-1..1], thrust [0..1] */ - float actuators[8]; /**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */ - float vbat; /**< battery voltage in [volt] */ - float bat_current; /**< battery discharge current */ - float bat_discharged; /**< discharged energy in mAh */ - float adc[4]; /**< ADC ports [volt] */ - float local_position[3]; /**< tangent plane mapping into x,y,z [m] */ - int32_t gps_raw_position[3]; /**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */ - float attitude[3]; /**< roll, pitch, yaw [rad] */ - float rotMatrix[9]; /**< unitvectors */ - float vicon[6]; /**< Vicon ground truth x, y, z and roll, pitch, yaw */ - float control_effective[4]; /**< roll, pitch, yaw [-1..1], thrust [0..1] */ - float flow[6]; /**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */ - float diff_pressure; /**< differential pressure */ - float ind_airspeed; /**< indicated airspeed */ - float true_airspeed; /**< true airspeed */ -}; -#pragma pack(pop) - -struct sdlog_logbuffer { - unsigned int start; - // unsigned int end; - unsigned int size; - int count; - struct sdlog_sysvector *elems; -}; - -void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size); - -int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb); - -int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb); - -void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem); - -int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem); - -#endif diff --git a/src/modules/sdlog2/logbuffer.c b/src/modules/sdlog2/logbuffer.c index 6a29d7e5c9..2da67d8a92 100644 --- a/src/modules/sdlog2/logbuffer.c +++ b/src/modules/sdlog2/logbuffer.c @@ -74,8 +74,9 @@ bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size) // bytes available to write int available = lb->read_ptr - lb->write_ptr - 1; - if (available < 0) + if (available < 0) { available += lb->size; + } if (size > available) { // buffer overflow diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk index f531296880..a28d43e725 100644 --- a/src/modules/sdlog2/module.mk +++ b/src/modules/sdlog2/module.mk @@ -41,3 +41,5 @@ MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30" SRCS = sdlog2.c \ logbuffer.c + +MODULE_STACKSIZE = 1200 diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 1365d9e705..39f433eb53 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -58,6 +58,8 @@ #include #include +#include + #include #include #include @@ -81,6 +83,9 @@ #include #include #include +#include +#include +#include #include #include @@ -134,12 +139,6 @@ static uint64_t gps_time = 0; /* current state of logging */ static bool logging_enabled = false; -/* enable logging on start (-e option) */ -static bool log_on_start = false; -/* enable logging when armed (-a option) */ -static bool log_when_armed = false; -/* delay = 1 / rate (rate defined by -r option) */ -static useconds_t sleep_delay = 0; /* use date/time for naming directories and files (-t option) */ static bool log_name_timestamp = false; @@ -159,6 +158,8 @@ static void *logwriter_thread(void *arg); */ __EXPORT int sdlog2_main(int argc, char *argv[]); +static bool copy_if_updated(orb_id_t topic, int handle, void *buffer); + /** * Mainloop of sd log deamon. */ @@ -220,15 +221,16 @@ static int open_log_file(void); static void sdlog2_usage(const char *reason) { - if (reason) + if (reason) { fprintf(stderr, "%s\n", reason); + } errx(1, "usage: sdlog2 {start|stop|status} [-r ] [-b ] -e -a -t\n" - "\t-r\tLog rate in Hz, 0 means unlimited rate\n" - "\t-b\tLog buffer size in KiB, default is 8\n" - "\t-e\tEnable logging by default (if not, can be started by command)\n" - "\t-a\tLog only when armed (can be still overriden by command)\n" - "\t-t\tUse date/time for naming log directories and files\n"); + "\t-r\tLog rate in Hz, 0 means unlimited rate\n" + "\t-b\tLog buffer size in KiB, default is 8\n" + "\t-e\tEnable logging by default (if not, can be started by command)\n" + "\t-a\tLog only when armed (can be still overriden by command)\n" + "\t-t\tUse date/time for naming log directories and files\n"); } /** @@ -241,8 +243,9 @@ sdlog2_usage(const char *reason) */ int sdlog2_main(int argc, char *argv[]) { - if (argc < 2) + if (argc < 2) { sdlog2_usage("missing command"); + } if (!strcmp(argv[1], "start")) { @@ -254,11 +257,11 @@ int sdlog2_main(int argc, char *argv[]) main_thread_should_exit = false; deamon_task = task_spawn_cmd("sdlog2", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT - 30, - 3000, - sdlog2_thread_main, - (const char **)argv); + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT - 30, + 3000, + sdlog2_thread_main, + (const char **)argv); exit(0); } @@ -401,22 +404,29 @@ static void *logwriter_thread(void *arg) int log_fd = open_log_file(); - if (log_fd < 0) - return; + if (log_fd < 0) { + return NULL; + } struct logbuffer_s *logbuf = (struct logbuffer_s *)arg; /* write log messages formats, version and parameters */ log_bytes_written += write_formats(log_fd); + log_bytes_written += write_version(log_fd); + log_bytes_written += write_parameters(log_fd); + fsync(log_fd); int poll_count = 0; void *read_ptr; + int n = 0; + bool should_wait = false; + bool is_part = false; while (true) { @@ -449,7 +459,6 @@ static void *logwriter_thread(void *arg) n = available; } - lseek(log_fd, 0, SEEK_CUR); n = write(log_fd, read_ptr, n); should_wait = (n == available) && !is_part; @@ -483,7 +492,7 @@ static void *logwriter_thread(void *arg) fsync(log_fd); close(log_fd); - return; + return NULL; } void sdlog2_start_log() @@ -628,6 +637,19 @@ int write_parameters(int fd) return written; } +bool copy_if_updated(orb_id_t topic, int handle, void *buffer) +{ + bool updated; + + orb_check(handle, &updated); + + if (updated) { + orb_copy(topic, handle, buffer); + } + + return updated; +} + int sdlog2_thread_main(int argc, char *argv[]) { mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); @@ -636,12 +658,14 @@ int sdlog2_thread_main(int argc, char *argv[]) warnx("failed to open MAVLink log stream, start mavlink app first"); } - /* log buffer size */ + /* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */ + useconds_t sleep_delay = 20000; int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT; - logging_enabled = false; - log_on_start = false; - log_when_armed = false; + /* enable logging on start (-e option) */ + bool log_on_start = false; + /* enable logging when armed (-a option) */ + bool log_when_armed = false; log_name_timestamp = false; flag_system_armed = false; @@ -651,17 +675,20 @@ int sdlog2_thread_main(int argc, char *argv[]) argv += 2; int ch; + /* don't exit from getopt loop to leave getopt global variables in consistent state, + * set error flag instead */ + bool err_flag = false; + while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) { switch (ch) { case 'r': { unsigned long r = strtoul(optarg, NULL, 10); if (r == 0) { - sleep_delay = 0; - - } else { - sleep_delay = 1000000 / r; + r = 1; } + + sleep_delay = 1000000 / r; } break; @@ -698,20 +725,27 @@ int sdlog2_thread_main(int argc, char *argv[]) } else { warnx("unknown option character `\\x%x'", optopt); } + err_flag = true; + break; default: - sdlog2_usage("unrecognized flag"); - errx(1, "exiting"); + warnx("unrecognized flag"); + err_flag = true; + break; } } + if (err_flag) { + sdlog2_usage(NULL); + } + gps_time = 0; /* create log root dir */ int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO); if (mkdir_ret != 0 && errno != EEXIST) { - err("failed creating log root dir: %s", log_root); + err(1, "failed creating log root dir: %s", log_root); } /* copy conversion scripts */ @@ -734,8 +768,12 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_status_s buf_status; + struct vehicle_gps_position_s buf_gps_pos; + memset(&buf_status, 0, sizeof(buf_status)); + memset(&buf_gps_pos, 0, sizeof(buf_gps_pos)); + /* warning! using union here to save memory, elements should be used separately! */ union { struct vehicle_command_s cmd; @@ -749,7 +787,6 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; struct position_setpoint_triplet_s triplet; - struct vehicle_gps_position_s gps_pos; struct vehicle_vicon_position_s vicon_pos; struct optical_flow_s flow; struct rc_channels_s rc; @@ -759,34 +796,14 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_global_velocity_setpoint_s global_vel_sp; struct battery_status_s battery; struct telemetry_status_s telemetry; + struct range_finder_report range_finder; + struct estimator_status_report estimator_status; + struct system_power_s system_power; + struct servorail_status_s servorail_status; } buf; memset(&buf, 0, sizeof(buf)); - struct { - int cmd_sub; - int status_sub; - int sensor_sub; - int att_sub; - int att_sp_sub; - int rates_sp_sub; - int act_outputs_sub; - int act_controls_sub; - int local_pos_sub; - int local_pos_sp_sub; - int global_pos_sub; - int triplet_sub; - int gps_pos_sub; - int vicon_pos_sub; - int flow_sub; - int rc_sub; - int airspeed_sub; - int esc_sub; - int global_vel_sp_sub; - int battery_sub; - int telemetry_sub; - } subs; - /* log message buffer: header + body */ #pragma pack(push, 1) struct { @@ -814,6 +831,11 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_BATT_s log_BATT; struct log_DIST_s log_DIST; struct log_TELE_s log_TELE; + struct log_ESTM_s log_ESTM; + struct log_PWR_s log_PWR; + struct log_VICN_s log_VICN; + struct log_GSN0_s log_GSN0; + struct log_GSN1_s log_GSN1; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -821,154 +843,59 @@ int sdlog2_thread_main(int argc, char *argv[]) #pragma pack(pop) memset(&log_msg.body, 0, sizeof(log_msg.body)); - /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 25; - /* Sanity check variable and index */ - ssize_t fdsc_count = 0; - /* file descriptors to wait for */ - struct pollfd fds[fdsc]; + struct { + int cmd_sub; + int status_sub; + int sensor_sub; + int att_sub; + int att_sp_sub; + int rates_sp_sub; + int act_outputs_sub; + int act_controls_sub; + int local_pos_sub; + int local_pos_sp_sub; + int global_pos_sub; + int triplet_sub; + int gps_pos_sub; + int vicon_pos_sub; + int flow_sub; + int rc_sub; + int airspeed_sub; + int esc_sub; + int global_vel_sp_sub; + int battery_sub; + int telemetry_sub; + int range_finder_sub; + int estimator_status_sub; + int system_power_sub; + int servorail_status_sub; + } subs; - /* --- VEHICLE COMMAND --- */ subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); - fds[fdsc_count].fd = subs.cmd_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- VEHICLE STATUS --- */ subs.status_sub = orb_subscribe(ORB_ID(vehicle_status)); - fds[fdsc_count].fd = subs.status_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GPS POSITION --- */ subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - fds[fdsc_count].fd = subs.gps_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- SENSORS COMBINED --- */ subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - fds[fdsc_count].fd = subs.sensor_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE --- */ subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - fds[fdsc_count].fd = subs.att_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE SETPOINT --- */ subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - fds[fdsc_count].fd = subs.att_sp_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- RATES SETPOINT --- */ subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - fds[fdsc_count].fd = subs.rates_sp_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR OUTPUTS --- */ subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS); - fds[fdsc_count].fd = subs.act_outputs_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR CONTROL --- */ subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - fds[fdsc_count].fd = subs.act_controls_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- LOCAL POSITION --- */ subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - fds[fdsc_count].fd = subs.local_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- LOCAL POSITION SETPOINT --- */ subs.local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); - fds[fdsc_count].fd = subs.local_pos_sp_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GLOBAL POSITION --- */ subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - fds[fdsc_count].fd = subs.global_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GLOBAL POSITION SETPOINT--- */ subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); - fds[fdsc_count].fd = subs.triplet_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- VICON POSITION --- */ subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - fds[fdsc_count].fd = subs.vicon_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- OPTICAL FLOW --- */ subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); - fds[fdsc_count].fd = subs.flow_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- RC CHANNELS --- */ subs.rc_sub = orb_subscribe(ORB_ID(rc_channels)); - fds[fdsc_count].fd = subs.rc_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- AIRSPEED --- */ subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); - fds[fdsc_count].fd = subs.airspeed_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ESCs --- */ subs.esc_sub = orb_subscribe(ORB_ID(esc_status)); - fds[fdsc_count].fd = subs.esc_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GLOBAL VELOCITY SETPOINT --- */ subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint)); - fds[fdsc_count].fd = subs.global_vel_sp_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- BATTERY --- */ subs.battery_sub = orb_subscribe(ORB_ID(battery_status)); - fds[fdsc_count].fd = subs.battery_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- TELEMETRY STATUS --- */ subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status)); - fds[fdsc_count].fd = subs.telemetry_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* WARNING: If you get the error message below, - * then the number of registered messages (fdsc) - * differs from the number of messages in the above list. - */ - if (fdsc_count > fdsc) { - warn("WARNING: Not enough space for poll fds allocated. Check %s:%d", __FILE__, __LINE__); - fdsc_count = fdsc; - } - - /* - * set up poll to block for new data, - * wait for a maximum of 1000 ms - */ - const int poll_timeout = 1000; + subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); + subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status)); + subs.system_power_sub = orb_subscribe(ORB_ID(system_power)); + subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status)); thread_running = true; @@ -977,21 +904,18 @@ int sdlog2_thread_main(int argc, char *argv[]) pthread_cond_init(&logbuffer_cond, NULL); /* track changes in sensor_combined topic */ - uint16_t gyro_counter = 0; - uint16_t accelerometer_counter = 0; - uint16_t magnetometer_counter = 0; - uint16_t baro_counter = 0; - uint16_t differential_pressure_counter = 0; - - /* track changes in distance status */ - bool dist_bottom_present = false; + hrt_abstime gyro_timestamp = 0; + hrt_abstime accelerometer_timestamp = 0; + hrt_abstime magnetometer_timestamp = 0; + hrt_abstime barometer_timestamp = 0; + hrt_abstime differential_pressure_timestamp = 0; /* enable logging on start if needed */ if (log_on_start) { /* check GPS topic to get GPS time */ if (log_name_timestamp) { - if (OK == orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos)) { - gps_time = buf.gps_pos.time_gps_usec; + if (copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) { + gps_time = buf_gps_pos.time_gps_usec; } } @@ -999,394 +923,397 @@ int sdlog2_thread_main(int argc, char *argv[]) } while (!main_thread_should_exit) { - /* decide use usleep() or blocking poll() */ - bool use_sleep = sleep_delay > 0 && logging_enabled; + usleep(sleep_delay); - /* poll all topics if logging enabled or only management (first 3) if not */ - int poll_ret = poll(fds, logging_enabled ? fdsc_count : 3, use_sleep ? 0 : poll_timeout); - - /* handle the poll result */ - if (poll_ret < 0) { - warnx("ERROR: poll error, stop logging"); - main_thread_should_exit = true; - - } else if (poll_ret > 0) { - - /* check all data subscriptions only if logging enabled, - * logging_enabled can be changed while checking vehicle_command and vehicle_status */ - bool check_data = logging_enabled; - int ifds = 0; - int handled_topics = 0; - - /* --- VEHICLE COMMAND - LOG MANAGEMENT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd); - - handle_command(&buf.cmd); - handled_topics++; - } - - /* --- VEHICLE STATUS - LOG MANAGEMENT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status); - - if (log_when_armed) { - handle_status(&buf_status); - } - - handled_topics++; - } - - /* --- GPS POSITION - LOG MANAGEMENT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); - - if (log_name_timestamp) { - gps_time = buf.gps_pos.time_gps_usec; - } - - handled_topics++; - } - - if (!logging_enabled || !check_data || handled_topics >= poll_ret) { - continue; - } - - ifds = 1; // begin from VEHICLE STATUS again - - pthread_mutex_lock(&logbuffer_mutex); - - /* write time stamp message */ - log_msg.msg_type = LOG_TIME_MSG; - log_msg.body.log_TIME.t = hrt_absolute_time(); - LOGBUFFER_WRITE_AND_COUNT(TIME); - - /* --- VEHICLE STATUS --- */ - if (fds[ifds++].revents & POLLIN) { - /* don't orb_copy, it's already done few lines above */ - log_msg.msg_type = LOG_STAT_MSG; - log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state; - log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state; - log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining; - log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning; - log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed; - LOGBUFFER_WRITE_AND_COUNT(STAT); - } - - /* --- GPS POSITION --- */ - if (fds[ifds++].revents & POLLIN) { - /* don't orb_copy, it's already done few lines above */ - log_msg.msg_type = LOG_GPS_MSG; - log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec; - log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type; - log_msg.body.log_GPS.eph = buf.gps_pos.eph_m; - log_msg.body.log_GPS.epv = buf.gps_pos.epv_m; - log_msg.body.log_GPS.lat = buf.gps_pos.lat; - log_msg.body.log_GPS.lon = buf.gps_pos.lon; - log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f; - log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s; - log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s; - log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s; - log_msg.body.log_GPS.cog = buf.gps_pos.cog_rad; - LOGBUFFER_WRITE_AND_COUNT(GPS); - } - - /* --- SENSOR COMBINED --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor); - bool write_IMU = false; - bool write_SENS = false; - - if (buf.sensor.gyro_counter != gyro_counter) { - gyro_counter = buf.sensor.gyro_counter; - write_IMU = true; - } - - if (buf.sensor.accelerometer_counter != accelerometer_counter) { - accelerometer_counter = buf.sensor.accelerometer_counter; - write_IMU = true; - } - - if (buf.sensor.magnetometer_counter != magnetometer_counter) { - magnetometer_counter = buf.sensor.magnetometer_counter; - write_IMU = true; - } - - if (buf.sensor.baro_counter != baro_counter) { - baro_counter = buf.sensor.baro_counter; - write_SENS = true; - } - - if (buf.sensor.differential_pressure_counter != differential_pressure_counter) { - differential_pressure_counter = buf.sensor.differential_pressure_counter; - write_SENS = true; - } - - if (write_IMU) { - log_msg.msg_type = LOG_IMU_MSG; - log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0]; - log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1]; - log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[2]; - log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0]; - log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1]; - log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2]; - log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0]; - log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1]; - log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2]; - LOGBUFFER_WRITE_AND_COUNT(IMU); - } - - if (write_SENS) { - log_msg.msg_type = LOG_SENS_MSG; - log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar; - log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter; - log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius; - log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa; - LOGBUFFER_WRITE_AND_COUNT(SENS); - } - } - - /* --- ATTITUDE --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); - log_msg.msg_type = LOG_ATT_MSG; - log_msg.body.log_ATT.roll = buf.att.roll; - log_msg.body.log_ATT.pitch = buf.att.pitch; - log_msg.body.log_ATT.yaw = buf.att.yaw; - log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; - log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; - log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; - log_msg.body.log_ATT.gx = buf.att.g_comp[0]; - log_msg.body.log_ATT.gy = buf.att.g_comp[1]; - log_msg.body.log_ATT.gz = buf.att.g_comp[2]; - LOGBUFFER_WRITE_AND_COUNT(ATT); - } - - /* --- ATTITUDE SETPOINT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp); - log_msg.msg_type = LOG_ATSP_MSG; - log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body; - log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body; - log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body; - log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust; - LOGBUFFER_WRITE_AND_COUNT(ATSP); - } - - /* --- RATES SETPOINT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp); - log_msg.msg_type = LOG_ARSP_MSG; - log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll; - log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch; - log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw; - LOGBUFFER_WRITE_AND_COUNT(ARSP); - } - - /* --- ACTUATOR OUTPUTS --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs); - log_msg.msg_type = LOG_OUT0_MSG; - memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output)); - LOGBUFFER_WRITE_AND_COUNT(OUT0); - } - - /* --- ACTUATOR CONTROL --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls); - log_msg.msg_type = LOG_ATTC_MSG; - log_msg.body.log_ATTC.roll = buf.act_controls.control[0]; - log_msg.body.log_ATTC.pitch = buf.act_controls.control[1]; - log_msg.body.log_ATTC.yaw = buf.act_controls.control[2]; - log_msg.body.log_ATTC.thrust = buf.act_controls.control[3]; - LOGBUFFER_WRITE_AND_COUNT(ATTC); - } - - /* --- LOCAL POSITION --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); - log_msg.msg_type = LOG_LPOS_MSG; - log_msg.body.log_LPOS.x = buf.local_pos.x; - log_msg.body.log_LPOS.y = buf.local_pos.y; - log_msg.body.log_LPOS.z = buf.local_pos.z; - log_msg.body.log_LPOS.vx = buf.local_pos.vx; - log_msg.body.log_LPOS.vy = buf.local_pos.vy; - log_msg.body.log_LPOS.vz = buf.local_pos.vz; - log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat; - log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon; - log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt; - log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0); - log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0); - log_msg.body.log_LPOS.landed = buf.local_pos.landed; - LOGBUFFER_WRITE_AND_COUNT(LPOS); - - if (buf.local_pos.dist_bottom_valid) { - dist_bottom_present = true; - } - if (dist_bottom_present) { - log_msg.msg_type = LOG_DIST_MSG; - log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom; - log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate; - log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); - LOGBUFFER_WRITE_AND_COUNT(DIST); - } - } - - /* --- LOCAL POSITION SETPOINT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp); - log_msg.msg_type = LOG_LPSP_MSG; - log_msg.body.log_LPSP.x = buf.local_pos_sp.x; - log_msg.body.log_LPSP.y = buf.local_pos_sp.y; - log_msg.body.log_LPSP.z = buf.local_pos_sp.z; - log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw; - LOGBUFFER_WRITE_AND_COUNT(LPSP); - } - - /* --- GLOBAL POSITION --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); - log_msg.msg_type = LOG_GPOS_MSG; - log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7; - log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7; - log_msg.body.log_GPOS.alt = buf.global_pos.alt; - log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n; - log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e; - log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d; - log_msg.body.log_GPOS.baro_alt = buf.global_pos.baro_alt; - log_msg.body.log_GPOS.flags = (buf.global_pos.baro_valid ? 1 : 0) | (buf.global_pos.global_valid ? 2 : 0); - LOGBUFFER_WRITE_AND_COUNT(GPOS); - } - - /* --- GLOBAL POSITION SETPOINT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet); - log_msg.msg_type = LOG_GPSP_MSG; - log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state; - log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d); - log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d); - log_msg.body.log_GPSP.alt = buf.triplet.current.alt; - log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw; - log_msg.body.log_GPSP.type = buf.triplet.current.type; - log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; - log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; - log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min; - LOGBUFFER_WRITE_AND_COUNT(GPSP); - } - - /* --- VICON POSITION --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); - // TODO not implemented yet - } - - /* --- FLOW --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - log_msg.msg_type = LOG_FLOW_MSG; - log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x; - log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y; - log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m; - log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m; - log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m; - log_msg.body.log_FLOW.quality = buf.flow.quality; - log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; - LOGBUFFER_WRITE_AND_COUNT(FLOW); - } - - /* --- RC CHANNELS --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(rc_channels), subs.rc_sub, &buf.rc); - log_msg.msg_type = LOG_RC_MSG; - /* Copy only the first 8 channels of 14 */ - memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel)); - log_msg.body.log_RC.channel_count = buf.rc.chan_count; - LOGBUFFER_WRITE_AND_COUNT(RC); - } - - /* --- AIRSPEED --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); - log_msg.msg_type = LOG_AIRS_MSG; - log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s; - log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s; - LOGBUFFER_WRITE_AND_COUNT(AIRS); - } - - /* --- ESCs --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(esc_status), subs.esc_sub, &buf.esc); - - for (uint8_t i = 0; i < buf.esc.esc_count; i++) { - log_msg.msg_type = LOG_ESC_MSG; - log_msg.body.log_ESC.counter = buf.esc.counter; - log_msg.body.log_ESC.esc_count = buf.esc.esc_count; - log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype; - log_msg.body.log_ESC.esc_num = i; - log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address; - log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version; - log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage; - log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current; - log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm; - log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature; - log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint; - log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw; - LOGBUFFER_WRITE_AND_COUNT(ESC); - } - } - - /* --- GLOBAL VELOCITY SETPOINT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp); - log_msg.msg_type = LOG_GVSP_MSG; - log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx; - log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy; - log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz; - LOGBUFFER_WRITE_AND_COUNT(GVSP); - } - - /* --- BATTERY --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(battery_status), subs.battery_sub, &buf.battery); - log_msg.msg_type = LOG_BATT_MSG; - log_msg.body.log_BATT.voltage = buf.battery.voltage_v; - log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v; - log_msg.body.log_BATT.current = buf.battery.current_a; - log_msg.body.log_BATT.discharged = buf.battery.discharged_mah; - LOGBUFFER_WRITE_AND_COUNT(BATT); - } - - /* --- TELEMETRY --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry); - log_msg.msg_type = LOG_TELE_MSG; - log_msg.body.log_TELE.rssi = buf.telemetry.rssi; - log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi; - log_msg.body.log_TELE.noise = buf.telemetry.noise; - log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise; - log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors; - log_msg.body.log_TELE.fixed = buf.telemetry.fixed; - log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf; - LOGBUFFER_WRITE_AND_COUNT(TELE); - } - - /* signal the other thread new data, but not yet unlock */ - if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { - /* only request write if several packets can be written at once */ - pthread_cond_signal(&logbuffer_cond); - } - - /* unlock, now the writer thread may run */ - pthread_mutex_unlock(&logbuffer_mutex); + /* --- VEHICLE COMMAND - LOG MANAGEMENT --- */ + if (copy_if_updated(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd)) { + handle_command(&buf.cmd); } - if (use_sleep) { - usleep(sleep_delay); + /* --- VEHICLE STATUS - LOG MANAGEMENT --- */ + bool status_updated = copy_if_updated(ORB_ID(vehicle_status), subs.status_sub, &buf_status); + + if (status_updated) { + if (log_when_armed) { + handle_status(&buf_status); + } } + + /* --- GPS POSITION - LOG MANAGEMENT --- */ + bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos); + + if (gps_pos_updated && log_name_timestamp) { + gps_time = buf_gps_pos.time_gps_usec; + } + + if (!logging_enabled) { + continue; + } + + pthread_mutex_lock(&logbuffer_mutex); + + /* write time stamp message */ + log_msg.msg_type = LOG_TIME_MSG; + log_msg.body.log_TIME.t = hrt_absolute_time(); + LOGBUFFER_WRITE_AND_COUNT(TIME); + + /* --- VEHICLE STATUS --- */ + if (status_updated) { + log_msg.msg_type = LOG_STAT_MSG; + log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state; + log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state; + log_msg.body.log_STAT.failsafe_state = (uint8_t) buf_status.failsafe_state; + log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining; + log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning; + log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed; + LOGBUFFER_WRITE_AND_COUNT(STAT); + } + + /* --- GPS POSITION --- */ + if (gps_pos_updated) { + log_msg.msg_type = LOG_GPS_MSG; + log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec; + log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type; + log_msg.body.log_GPS.eph = buf_gps_pos.eph_m; + log_msg.body.log_GPS.epv = buf_gps_pos.epv_m; + log_msg.body.log_GPS.lat = buf_gps_pos.lat; + log_msg.body.log_GPS.lon = buf_gps_pos.lon; + log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f; + log_msg.body.log_GPS.vel_n = buf_gps_pos.vel_n_m_s; + log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s; + log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s; + log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad; + LOGBUFFER_WRITE_AND_COUNT(GPS); + + /* log the SNR of each satellite for a detailed view of signal quality */ + log_msg.msg_type = LOG_GSN0_MSG; + /* pick the smaller number so we do not overflow any of the arrays */ + unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]); + unsigned log_max_snr = sizeof(log_msg.body.log_GSN0.satellite_snr) / sizeof(log_msg.body.log_GSN0.satellite_snr[0]); + unsigned sat_max_snr = (gps_msg_max_snr < log_max_snr) ? gps_msg_max_snr : log_max_snr; + + for (unsigned i = 0; i < sat_max_snr; i++) { + log_msg.body.log_GSN0.satellite_snr[i] = buf_gps_pos.satellite_snr[i]; + } + LOGBUFFER_WRITE_AND_COUNT(GSN0); + } + + /* --- SENSOR COMBINED --- */ + if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) { + bool write_IMU = false; + bool write_SENS = false; + + if (buf.sensor.timestamp != gyro_timestamp) { + gyro_timestamp = buf.sensor.timestamp; + write_IMU = true; + } + + if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) { + accelerometer_timestamp = buf.sensor.accelerometer_timestamp; + write_IMU = true; + } + + if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) { + magnetometer_timestamp = buf.sensor.magnetometer_timestamp; + write_IMU = true; + } + + if (buf.sensor.baro_timestamp != barometer_timestamp) { + barometer_timestamp = buf.sensor.baro_timestamp; + write_SENS = true; + } + + if (buf.sensor.differential_pressure_timestamp != differential_pressure_timestamp) { + differential_pressure_timestamp = buf.sensor.differential_pressure_timestamp; + write_SENS = true; + } + + if (write_IMU) { + log_msg.msg_type = LOG_IMU_MSG; + log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0]; + log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1]; + log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[2]; + log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0]; + log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1]; + log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2]; + log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0]; + log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1]; + log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2]; + LOGBUFFER_WRITE_AND_COUNT(IMU); + } + + if (write_SENS) { + log_msg.msg_type = LOG_SENS_MSG; + log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar; + log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter; + log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius; + log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa; + log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa; + LOGBUFFER_WRITE_AND_COUNT(SENS); + } + + } + + /* --- ATTITUDE --- */ + if (copy_if_updated(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att)) { + log_msg.msg_type = LOG_ATT_MSG; + log_msg.body.log_ATT.roll = buf.att.roll; + log_msg.body.log_ATT.pitch = buf.att.pitch; + log_msg.body.log_ATT.yaw = buf.att.yaw; + log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; + log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; + log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; + log_msg.body.log_ATT.gx = buf.att.g_comp[0]; + log_msg.body.log_ATT.gy = buf.att.g_comp[1]; + log_msg.body.log_ATT.gz = buf.att.g_comp[2]; + LOGBUFFER_WRITE_AND_COUNT(ATT); + } + + /* --- ATTITUDE SETPOINT --- */ + if (copy_if_updated(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp)) { + log_msg.msg_type = LOG_ATSP_MSG; + log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body; + log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body; + log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body; + log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust; + LOGBUFFER_WRITE_AND_COUNT(ATSP); + } + + /* --- RATES SETPOINT --- */ + if (copy_if_updated(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp)) { + log_msg.msg_type = LOG_ARSP_MSG; + log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll; + log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch; + log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw; + LOGBUFFER_WRITE_AND_COUNT(ARSP); + } + + /* --- ACTUATOR OUTPUTS --- */ + if (copy_if_updated(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs)) { + log_msg.msg_type = LOG_OUT0_MSG; + memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output)); + LOGBUFFER_WRITE_AND_COUNT(OUT0); + } + + /* --- ACTUATOR CONTROL --- */ + if (copy_if_updated(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls)) { + log_msg.msg_type = LOG_ATTC_MSG; + log_msg.body.log_ATTC.roll = buf.act_controls.control[0]; + log_msg.body.log_ATTC.pitch = buf.act_controls.control[1]; + log_msg.body.log_ATTC.yaw = buf.act_controls.control[2]; + log_msg.body.log_ATTC.thrust = buf.act_controls.control[3]; + LOGBUFFER_WRITE_AND_COUNT(ATTC); + } + + /* --- LOCAL POSITION --- */ + if (copy_if_updated(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos)) { + log_msg.msg_type = LOG_LPOS_MSG; + log_msg.body.log_LPOS.x = buf.local_pos.x; + log_msg.body.log_LPOS.y = buf.local_pos.y; + log_msg.body.log_LPOS.z = buf.local_pos.z; + log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom; + log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate; + log_msg.body.log_LPOS.vx = buf.local_pos.vx; + log_msg.body.log_LPOS.vy = buf.local_pos.vy; + log_msg.body.log_LPOS.vz = buf.local_pos.vz; + log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7; + log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7; + log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt; + log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0); + log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0); + log_msg.body.log_LPOS.landed = buf.local_pos.landed; + log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); + LOGBUFFER_WRITE_AND_COUNT(LPOS); + } + + /* --- LOCAL POSITION SETPOINT --- */ + if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp)) { + log_msg.msg_type = LOG_LPSP_MSG; + log_msg.body.log_LPSP.x = buf.local_pos_sp.x; + log_msg.body.log_LPSP.y = buf.local_pos_sp.y; + log_msg.body.log_LPSP.z = buf.local_pos_sp.z; + log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw; + LOGBUFFER_WRITE_AND_COUNT(LPSP); + } + + /* --- GLOBAL POSITION --- */ + if (copy_if_updated(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos)) { + log_msg.msg_type = LOG_GPOS_MSG; + log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7; + log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7; + log_msg.body.log_GPOS.alt = buf.global_pos.alt; + log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n; + log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e; + log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d; + log_msg.body.log_GPOS.eph = buf.global_pos.eph; + log_msg.body.log_GPOS.epv = buf.global_pos.epv; + LOGBUFFER_WRITE_AND_COUNT(GPOS); + } + + /* --- GLOBAL POSITION SETPOINT --- */ + if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) { + log_msg.msg_type = LOG_GPSP_MSG; + log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state; + log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d); + log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d); + log_msg.body.log_GPSP.alt = buf.triplet.current.alt; + log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw; + log_msg.body.log_GPSP.type = buf.triplet.current.type; + log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; + log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; + log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min; + LOGBUFFER_WRITE_AND_COUNT(GPSP); + } + + /* --- VICON POSITION --- */ + if (copy_if_updated(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos)) { + log_msg.msg_type = LOG_VICN_MSG; + log_msg.body.log_VICN.x = buf.vicon_pos.x; + log_msg.body.log_VICN.y = buf.vicon_pos.y; + log_msg.body.log_VICN.z = buf.vicon_pos.z; + log_msg.body.log_VICN.pitch = buf.vicon_pos.pitch; + log_msg.body.log_VICN.roll = buf.vicon_pos.roll; + log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw; + LOGBUFFER_WRITE_AND_COUNT(VICN); + } + + /* --- FLOW --- */ + if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) { + log_msg.msg_type = LOG_FLOW_MSG; + log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x; + log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y; + log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m; + log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m; + log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m; + log_msg.body.log_FLOW.quality = buf.flow.quality; + log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; + LOGBUFFER_WRITE_AND_COUNT(FLOW); + } + + /* --- RC CHANNELS --- */ + if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) { + log_msg.msg_type = LOG_RC_MSG; + /* Copy only the first 8 channels of 14 */ + memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel)); + log_msg.body.log_RC.channel_count = buf.rc.chan_count; + log_msg.body.log_RC.signal_lost = buf.rc.signal_lost; + LOGBUFFER_WRITE_AND_COUNT(RC); + } + + /* --- AIRSPEED --- */ + if (copy_if_updated(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed)) { + log_msg.msg_type = LOG_AIRS_MSG; + log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s; + log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s; + log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius; + LOGBUFFER_WRITE_AND_COUNT(AIRS); + } + + /* --- ESCs --- */ + if (copy_if_updated(ORB_ID(esc_status), subs.esc_sub, &buf.esc)) { + for (uint8_t i = 0; i < buf.esc.esc_count; i++) { + log_msg.msg_type = LOG_ESC_MSG; + log_msg.body.log_ESC.counter = buf.esc.counter; + log_msg.body.log_ESC.esc_count = buf.esc.esc_count; + log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype; + log_msg.body.log_ESC.esc_num = i; + log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address; + log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version; + log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage; + log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current; + log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm; + log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature; + log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint; + log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw; + LOGBUFFER_WRITE_AND_COUNT(ESC); + } + } + + /* --- GLOBAL VELOCITY SETPOINT --- */ + if (copy_if_updated(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp)) { + log_msg.msg_type = LOG_GVSP_MSG; + log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx; + log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy; + log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz; + LOGBUFFER_WRITE_AND_COUNT(GVSP); + } + + /* --- BATTERY --- */ + if (copy_if_updated(ORB_ID(battery_status), subs.battery_sub, &buf.battery)) { + log_msg.msg_type = LOG_BATT_MSG; + log_msg.body.log_BATT.voltage = buf.battery.voltage_v; + log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v; + log_msg.body.log_BATT.current = buf.battery.current_a; + log_msg.body.log_BATT.discharged = buf.battery.discharged_mah; + LOGBUFFER_WRITE_AND_COUNT(BATT); + } + + /* --- SYSTEM POWER RAILS --- */ + if (copy_if_updated(ORB_ID(system_power), subs.system_power_sub, &buf.system_power)) { + log_msg.msg_type = LOG_PWR_MSG; + log_msg.body.log_PWR.peripherals_5v = buf.system_power.voltage5V_v; + log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected; + log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid; + log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid; + log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC; + log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC; + + /* copy servo rail status topic here too */ + orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status); + log_msg.body.log_PWR.servo_rail_5v = buf.servorail_status.voltage_v; + log_msg.body.log_PWR.servo_rssi = buf.servorail_status.rssi_v; + + LOGBUFFER_WRITE_AND_COUNT(PWR); + } + + /* --- TELEMETRY --- */ + if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) { + log_msg.msg_type = LOG_TELE_MSG; + log_msg.body.log_TELE.rssi = buf.telemetry.rssi; + log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi; + log_msg.body.log_TELE.noise = buf.telemetry.noise; + log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise; + log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors; + log_msg.body.log_TELE.fixed = buf.telemetry.fixed; + log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf; + LOGBUFFER_WRITE_AND_COUNT(TELE); + } + + /* --- BOTTOM DISTANCE --- */ + if (copy_if_updated(ORB_ID(sensor_range_finder), subs.range_finder_sub, &buf.range_finder)) { + log_msg.msg_type = LOG_DIST_MSG; + log_msg.body.log_DIST.bottom = buf.range_finder.distance; + log_msg.body.log_DIST.bottom_rate = 0.0f; + log_msg.body.log_DIST.flags = (buf.range_finder.valid ? 1 : 0); + LOGBUFFER_WRITE_AND_COUNT(DIST); + } + + /* --- ESTIMATOR STATUS --- */ + if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) { + log_msg.msg_type = LOG_ESTM_MSG; + unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s); + memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s)); + memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy); + log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states; + log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan; + log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan; + log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan; + LOGBUFFER_WRITE_AND_COUNT(ESTM); + } + + /* signal the other thread new data, but not yet unlock */ + if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { + /* only request write if several packets can be written at once */ + pthread_cond_signal(&logbuffer_cond); + } + + /* unlock, now the writer thread may run */ + pthread_mutex_unlock(&logbuffer_mutex); } - if (logging_enabled) + if (logging_enabled) { sdlog2_stop_log(); + } pthread_mutex_destroy(&logbuffer_mutex); pthread_cond_destroy(&logbuffer_cond); @@ -1461,8 +1388,6 @@ int file_copy(const char *file_old, const char *file_new) void handle_command(struct vehicle_command_s *cmd) { - /* result of the command */ - uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; int param; /* request to set different system mode */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 16bfc355d6..0c61886579 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -92,6 +92,7 @@ struct log_SENS_s { float baro_alt; float baro_temp; float diff_pres; + float diff_pres_filtered; }; /* --- LPOS - LOCAL POSITION --- */ @@ -100,6 +101,8 @@ struct log_LPOS_s { float x; float y; float z; + float ground_dist; + float ground_dist_rate; float vx; float vy; float vz; @@ -109,6 +112,7 @@ struct log_LPOS_s { uint8_t xy_flags; uint8_t z_flags; uint8_t landed; + uint8_t ground_dist_flags; }; /* --- LPSP - LOCAL POSITION SETPOINT --- */ @@ -150,6 +154,7 @@ struct log_ATTC_s { struct log_STAT_s { uint8_t main_state; uint8_t arming_state; + uint8_t failsafe_state; float battery_remaining; uint8_t battery_warning; uint8_t landed; @@ -160,6 +165,7 @@ struct log_STAT_s { struct log_RC_s { float channel[8]; uint8_t channel_count; + uint8_t signal_lost; }; /* --- OUT0 - ACTUATOR_0 OUTPUT --- */ @@ -173,6 +179,7 @@ struct log_OUT0_s { struct log_AIRS_s { float indicated_airspeed; float true_airspeed; + float air_temperature_celsius; }; /* --- ARSP - ATTITUDE RATE SET POINT --- */ @@ -204,8 +211,8 @@ struct log_GPOS_s { float vel_n; float vel_e; float vel_d; - float baro_alt; - uint8_t flags; + float eph; + float epv; }; /* --- GPSP - GLOBAL POSITION SETPOINT --- */ @@ -267,13 +274,59 @@ struct log_DIST_s { /* --- TELE - TELEMETRY STATUS --- */ #define LOG_TELE_MSG 22 struct log_TELE_s { - uint8_t rssi; - uint8_t remote_rssi; - uint8_t noise; - uint8_t remote_noise; - uint16_t rxerrors; - uint16_t fixed; - uint8_t txbuf; + uint8_t rssi; + uint8_t remote_rssi; + uint8_t noise; + uint8_t remote_noise; + uint16_t rxerrors; + uint16_t fixed; + uint8_t txbuf; +}; + +/* --- ESTM - ESTIMATOR STATUS --- */ +#define LOG_ESTM_MSG 23 +struct log_ESTM_s { + float s[10]; + uint8_t n_states; + uint8_t states_nan; + uint8_t covariance_nan; + uint8_t kalman_gain_nan; +}; + +/* --- PWR - ONBOARD POWER SYSTEM --- */ +#define LOG_PWR_MSG 24 +struct log_PWR_s { + float peripherals_5v; + float servo_rail_5v; + float servo_rssi; + uint8_t usb_ok; + uint8_t brick_ok; + uint8_t servo_ok; + uint8_t low_power_rail_overcurrent; + uint8_t high_power_rail_overcurrent; +}; + +/* --- VICN - VICON POSITION --- */ +#define LOG_VICN_MSG 25 +struct log_VICN_s { + float x; + float y; + float z; + float roll; + float pitch; + float yaw; +}; + +/* --- GSN0 - GPS SNR #0 --- */ +#define LOG_GSN0_MSG 26 +struct log_GSN0_s { + uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */ +}; + +/* --- GSN1 - GPS SNR #1 --- */ +#define LOG_GSN1_MSG 27 +struct log_GSN1_s { + uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */ }; /********** SYSTEM MESSAGES, ID > 0x80 **********/ @@ -303,35 +356,40 @@ struct log_PARM_s { /* construct list of all message formats */ static const struct log_format_s log_formats[] = { /* business-level messages, ID < 0x80 */ - LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), - LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), - LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), - LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"), - LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"), - LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), - LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), - LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), - LOG_FORMAT(STAT, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"), - LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"), - LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), - LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"), - LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), - LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), - LOG_FORMAT(GPOS, "LLfffffB", "Lat,Lon,Alt,VelN,VelE,VelD,BaroAlt,Flags"), - LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), - LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), - LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), - LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), - LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), - LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), + LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), + LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), + LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), + LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"), + LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), + LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), + LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), + LOG_FORMAT(STAT, "BBBfBB", "MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"), + LOG_FORMAT(RC, "ffffffffBB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"), + LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), + LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), + LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), + LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), + LOG_FORMAT(GPOS, "LLffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"), + LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), + LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), + LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), + LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), + LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), + LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), + LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"), + LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), + LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), + LOG_FORMAT(GSN0, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), + LOG_FORMAT(GSN1, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), /* system-level messages, ID >= 0x80 */ - // FMT: don't write format of format message, it's useless + /* FMT: don't write format of format message, it's useless */ LOG_FORMAT(TIME, "Q", "StartTime"), LOG_FORMAT(VER, "NZ", "Arch,FwGit"), - LOG_FORMAT(PARM, "Nf", "Name,Value"), + LOG_FORMAT(PARM, "Nf", "Name,Value") }; -static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); +static const unsigned log_formats_num = sizeof(log_formats) / sizeof(log_formats[0]); #endif /* SDLOG2_MESSAGES_H_ */ diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp index 96a443c6ea..91230a37cb 100644 --- a/src/modules/segway/BlockSegwayController.cpp +++ b/src/modules/segway/BlockSegwayController.cpp @@ -35,8 +35,8 @@ void BlockSegwayController::update() { // handle autopilot modes if (_status.main_state == MAIN_STATE_AUTO || - _status.main_state == MAIN_STATE_SEATBELT || - _status.main_state == MAIN_STATE_EASY) { + _status.main_state == MAIN_STATE_ALTCTL || + _status.main_state == MAIN_STATE_POSCTL) { _actuators.control[0] = spdCmd; _actuators.control[1] = spdCmd; diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk index aa538fd6b1..5b1bc5e86f 100644 --- a/src/modules/sensors/module.mk +++ b/src/modules/sensors/module.mk @@ -40,3 +40,5 @@ MODULE_PRIORITY = "SCHED_PRIORITY_MAX-5" SRCS = sensors.cpp \ sensor_params.c + +MODULE_STACKSIZE = 1200 diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 0ba262ebe1..999cf8bb3a 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -488,6 +488,15 @@ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); * @group Battery Calibration */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); +#elif CONFIG_ARCH_BOARD_AEROCORE +/** + * Scaling factor for battery voltage sensor on AeroCore. + * + * For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063 + * + * @group Battery Calibration + */ +PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f); #else /** * Scaling factor for battery voltage sensor on FMU v1. @@ -535,6 +544,20 @@ PARAM_DEFINE_INT32(RC_MAP_ROLL, 1); */ PARAM_DEFINE_INT32(RC_MAP_PITCH, 2); +/** + * Failsafe channel mapping. + * + * The RC mapping index indicates which channel is used for failsafe + * If 0, whichever channel is mapped to throttle is used + * otherwise the value indicates the specific rc channel to use + * + * @min 0 + * @max 18 + * + * + */ +PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0); //Default to throttle function + /** * Throttle control channel mapping. * @@ -585,25 +608,31 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0); PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); /** - * Assist switch channel mapping. + * Posctl switch channel mapping. * * @min 0 * @max 18 * @group Radio Calibration */ -PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0); /** - * Mission switch channel mapping. + * Loiter switch channel mapping. * * @min 0 * @max 18 * @group Radio Calibration */ -PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0); -PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0); -//PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); +/** + * Acro switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0); /** * Flaps channel mapping. @@ -648,54 +677,107 @@ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); -/** - * Roll scaling factor - * - * @group Radio Calibration - */ -PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f); - -/** - * Pitch scaling factor - * - * @group Radio Calibration - */ -PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f); - -/** - * Yaw scaling factor - * - * @group Radio Calibration - */ -PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f); - - -/** - * Failsafe channel mapping. - * - * @min 0 - * @max 18 - * @group Radio Calibration - */ -PARAM_DEFINE_INT32(RC_FS_CH, 0); - -/** - * Failsafe channel mode. - * - * 0 = too low means signal loss, - * 1 = too high means signal loss - * - * @min 0 - * @max 1 - * @group Radio Calibration - */ -PARAM_DEFINE_INT32(RC_FS_MODE, 0); - /** * Failsafe channel PWM threshold. * - * @min 0 - * @max 1 + * @min 800 + * @max 2200 * @group Radio Calibration */ -PARAM_DEFINE_FLOAT(RC_FS_THR, 800); +PARAM_DEFINE_INT32(RC_FAILS_THR, 0); + +/** + * Threshold for selecting assist mode + * + * min:-1 + * max:+1 + * + * 0-1 indicate where in the full channel range the threshold sits + * 0 : min + * 1 : max + * sign indicates polarity of comparison + * positive : true when channel>th + * negative : true when channelth + * negative : true when channelth + * negative : true when channelth + * negative : true when channelth + * negative : true when channelth + * negative : true when channel + * @author Julian Oes + * @author Thomas Gubler */ #include @@ -124,6 +126,12 @@ #define ADC_AIRSPEED_VOLTAGE_CHANNEL 15 #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE +#define ADC_BATTERY_VOLTAGE_CHANNEL 10 +#define ADC_BATTERY_CURRENT_CHANNEL -1 +#define ADC_AIRSPEED_VOLTAGE_CHANNEL -1 +#endif + #define BATT_V_LOWPASS 0.001f #define BATT_V_IGNORE_THRESHOLD 3.5f @@ -133,7 +141,7 @@ */ #define PCB_TEMP_ESTIMATE_DEG 5.0f -#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg) +#define STICK_ON_OFF_LIMIT 0.75f /** * Sensor app start / stop handling function @@ -165,7 +173,16 @@ public: private: static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */ - hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */ + /** + * Get and limit value for specified RC function. Returns NAN if not mapped. + */ + float get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value); + + /** + * Get switch position for specified function. + */ + switch_pos_t get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv); + switch_pos_t get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv); /** * Gather and publish RC input data. @@ -209,8 +226,8 @@ private: struct differential_pressure_s _diff_pres; struct airspeed_s _airspeed; - math::Matrix<3,3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ - math::Matrix<3,3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ + math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ + math::Matrix<3, 3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ bool _mag_is_external; /**< true if the active mag is on an external board */ uint64_t _battery_discharged; /**< battery discharged current in mA*ms */ @@ -240,15 +257,14 @@ private: int rc_map_pitch; int rc_map_yaw; int rc_map_throttle; + int rc_map_failsafe; int rc_map_mode_sw; int rc_map_return_sw; - int rc_map_assisted_sw; - int rc_map_mission_sw; + int rc_map_posctl_sw; + int rc_map_loiter_sw; int rc_map_acro_sw; -// int rc_map_offboard_ctrl_mode_sw; - int rc_map_flaps; int rc_map_aux1; @@ -257,14 +273,19 @@ private: int rc_map_aux4; int rc_map_aux5; - float rc_scale_roll; - float rc_scale_pitch; - float rc_scale_yaw; - float rc_scale_flaps; - - int rc_fs_ch; - int rc_fs_mode; - float rc_fs_thr; + int32_t rc_fails_thr; + float rc_assist_th; + float rc_auto_th; + float rc_posctl_th; + float rc_return_th; + float rc_loiter_th; + float rc_acro_th; + bool rc_assist_inv; + bool rc_auto_inv; + bool rc_posctl_inv; + bool rc_return_inv; + bool rc_loiter_inv; + bool rc_acro_inv; float battery_voltage_scaling; float battery_current_scaling; @@ -291,15 +312,14 @@ private: param_t rc_map_pitch; param_t rc_map_yaw; param_t rc_map_throttle; + param_t rc_map_failsafe; param_t rc_map_mode_sw; param_t rc_map_return_sw; - param_t rc_map_assisted_sw; - param_t rc_map_mission_sw; + param_t rc_map_posctl_sw; + param_t rc_map_loiter_sw; param_t rc_map_acro_sw; -// param_t rc_map_offboard_ctrl_mode_sw; - param_t rc_map_flaps; param_t rc_map_aux1; @@ -308,14 +328,13 @@ private: param_t rc_map_aux4; param_t rc_map_aux5; - param_t rc_scale_roll; - param_t rc_scale_pitch; - param_t rc_scale_yaw; - param_t rc_scale_flaps; - - param_t rc_fs_ch; - param_t rc_fs_mode; - param_t rc_fs_thr; + param_t rc_fails_thr; + param_t rc_assist_th; + param_t rc_auto_th; + param_t rc_posctl_th; + param_t rc_return_th; + param_t rc_loiter_th; + param_t rc_acro_th; param_t battery_voltage_scaling; param_t battery_current_scaling; @@ -422,7 +441,7 @@ private: /** * Main sensor collection task. */ - void task_main() __attribute__((noreturn)); + void task_main(); }; namespace sensors @@ -438,8 +457,6 @@ Sensors *g_sensors = nullptr; } Sensors::Sensors() : - _rc_last_valid(0), - _fd_adc(-1), _last_adc(0), @@ -474,6 +491,7 @@ Sensors::Sensors() : _battery_discharged(0), _battery_current_timestamp(0) { + memset(&_rc, 0, sizeof(_rc)); /* basic r/c parameters */ for (unsigned i = 0; i < _rc_max_chan_count; i++) { @@ -506,6 +524,7 @@ Sensors::Sensors() : _parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH"); _parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW"); _parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE"); + _parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE"); /* mandatory mode switches, mapped to channel 5 and 6 per default */ _parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW"); @@ -514,27 +533,24 @@ Sensors::Sensors() : _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); /* optional mode switches, not mapped per default */ - _parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW"); - _parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW"); + _parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW"); + _parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW"); _parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW"); -// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); - _parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1"); _parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2"); _parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3"); _parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4"); _parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5"); - _parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL"); - _parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH"); - _parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW"); - _parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS"); - - /* RC failsafe */ - _parameter_handles.rc_fs_ch = param_find("RC_FS_CH"); - _parameter_handles.rc_fs_mode = param_find("RC_FS_MODE"); - _parameter_handles.rc_fs_thr = param_find("RC_FS_THR"); + /* RC thresholds */ + _parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR"); + _parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH"); + _parameter_handles.rc_auto_th = param_find("RC_AUTO_TH"); + _parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH"); + _parameter_handles.rc_return_th = param_find("RC_RETURN_TH"); + _parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH"); + _parameter_handles.rc_acro_th = param_find("RC_ACRO_TH"); /* gyro offsets */ _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); @@ -635,68 +651,81 @@ Sensors::parameters_update() } /* handle wrong values */ - if (!rc_valid) + if (!rc_valid) { warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n"); + } const char *paramerr = "FAIL PARM LOAD"; /* channel mapping */ if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); + } + + if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) { + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } - if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) { - warnx(paramerr); + if (param_get(_parameter_handles.rc_map_posctl_sw, &(_parameters.rc_map_posctl_sw)) != OK) { + warnx("%s", paramerr); } - if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) { - warnx(paramerr); + if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) { + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_acro_sw, &(_parameters.rc_map_acro_sw)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } -// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) { -// warnx("Failed getting offboard control mode sw chan index"); -// } - param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)); param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)); param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)); param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)); param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)); - param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)); - param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)); - param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)); - param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)); - param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch)); - param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode)); - param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr)); + param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr)); + param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th)); + _parameters.rc_assist_inv = (_parameters.rc_assist_th < 0); + _parameters.rc_assist_th = fabs(_parameters.rc_assist_th); + param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th)); + _parameters.rc_auto_inv = (_parameters.rc_auto_th < 0); + _parameters.rc_auto_th = fabs(_parameters.rc_auto_th); + param_get(_parameter_handles.rc_posctl_th, &(_parameters.rc_posctl_th)); + _parameters.rc_posctl_inv = (_parameters.rc_posctl_th < 0); + _parameters.rc_posctl_th = fabs(_parameters.rc_posctl_th); + param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th)); + _parameters.rc_return_inv = (_parameters.rc_return_th < 0); + _parameters.rc_return_th = fabs(_parameters.rc_return_th); + param_get(_parameter_handles.rc_loiter_th, &(_parameters.rc_loiter_th)); + _parameters.rc_loiter_inv = (_parameters.rc_loiter_th < 0); + _parameters.rc_loiter_th = fabs(_parameters.rc_loiter_th); + param_get(_parameter_handles.rc_acro_th, &(_parameters.rc_acro_th)); + _parameters.rc_acro_inv = (_parameters.rc_acro_th < 0); + _parameters.rc_acro_th = fabs(_parameters.rc_acro_th); /* update RC function mappings */ _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1; @@ -706,14 +735,12 @@ Sensors::parameters_update() _rc.function[MODE] = _parameters.rc_map_mode_sw - 1; _rc.function[RETURN] = _parameters.rc_map_return_sw - 1; - _rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1; - _rc.function[MISSION] = _parameters.rc_map_mission_sw - 1; + _rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1; + _rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1; _rc.function[ACRO] = _parameters.rc_map_acro_sw - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; -// _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1; - _rc.function[AUX_1] = _parameters.rc_map_aux1 - 1; _rc.function[AUX_2] = _parameters.rc_map_aux2 - 1; _rc.function[AUX_3] = _parameters.rc_map_aux3 - 1; @@ -751,12 +778,12 @@ Sensors::parameters_update() /* scaling of ADC ticks to battery voltage */ if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } /* scaling of ADC ticks to battery current */ if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation)); @@ -791,7 +818,7 @@ Sensors::accel_init() /* set the driver to poll at 1000Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 1000); -#elif CONFIG_ARCH_BOARD_PX4FMU_V2 +#elif CONFIG_ARCH_BOARD_PX4FMU_V2 || CONFIG_ARCH_BOARD_AEROCORE /* set the accel internal sampling rate up to at leat 800Hz */ ioctl(fd, ACCELIOCSSAMPLERATE, 800); @@ -800,7 +827,7 @@ Sensors::accel_init() ioctl(fd, SENSORIOCSPOLLRATE, 800); #else -#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2 +#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1, CONFIG_ARCH_BOARD_PX4FMU_V2 or CONFIG_ARCH_BOARD_AEROCORE #endif @@ -826,12 +853,14 @@ Sensors::gyro_init() #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 /* set the gyro internal sampling rate up to at least 1000Hz */ - if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) + if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) { ioctl(fd, GYROIOCSSAMPLERATE, 800); + } /* set the driver to poll at 1000Hz */ - if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) + if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) { ioctl(fd, SENSORIOCSPOLLRATE, 800); + } #else @@ -886,12 +915,15 @@ Sensors::mag_init() ret = ioctl(fd, MAGIOCGEXTERNAL, 0); - if (ret < 0) + if (ret < 0) { errx(1, "FATAL: unknown if magnetometer is external or onboard"); - else if (ret == 1) + + } else if (ret == 1) { _mag_is_external = true; - else + + } else { _mag_is_external = false; + } close(fd); } @@ -948,7 +980,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) raw.accelerometer_raw[1] = accel_report.y_raw; raw.accelerometer_raw[2] = accel_report.z_raw; - raw.accelerometer_counter++; + raw.accelerometer_timestamp = accel_report.timestamp; } } @@ -974,7 +1006,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) raw.gyro_raw[1] = gyro_report.y_raw; raw.gyro_raw[2] = gyro_report.z_raw; - raw.gyro_counter++; + raw.timestamp = gyro_report.timestamp; } } @@ -991,10 +1023,12 @@ Sensors::mag_poll(struct sensor_combined_s &raw) math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z); - if (_mag_is_external) + if (_mag_is_external) { vect = _external_mag_rotation * vect; - else + + } else { vect = _board_rotation * vect; + } raw.magnetometer_ga[0] = vect(0); raw.magnetometer_ga[1] = vect(1); @@ -1004,7 +1038,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw) raw.magnetometer_raw[1] = mag_report.y_raw; raw.magnetometer_raw[2] = mag_report.z_raw; - raw.magnetometer_counter++; + raw.magnetometer_timestamp = mag_report.timestamp; } } @@ -1022,7 +1056,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw) raw.baro_alt_meter = _barometer.altitude; // Altitude in meters raw.baro_temp_celcius = _barometer.temperature; // Temperature in degrees celcius - raw.baro_counter++; + raw.baro_timestamp = _barometer.timestamp; } } @@ -1036,11 +1070,16 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres); raw.differential_pressure_pa = _diff_pres.differential_pressure_pa; - raw.differential_pressure_counter++; + raw.differential_pressure_timestamp = _diff_pres.timestamp; + raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa; - _airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa); - _airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f, - raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); + float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : (raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); + + _airspeed.timestamp = _diff_pres.timestamp; + _airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa); + _airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f, + raw.baro_pres_mbar * 1e2f, air_temperature_celsius); + _airspeed.air_temperature_celsius = air_temperature_celsius; /* announce the airspeed if needed, just publish else */ if (_airspeed_pub > 0) { @@ -1107,8 +1146,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.gyro_scale[2], }; - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) { warn("WARNING: failed to set scale / offsets for gyro"); + } close(fd); @@ -1122,8 +1162,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.accel_scale[2], }; - if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) + if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) { warn("WARNING: failed to set scale / offsets for accel"); + } close(fd); @@ -1137,8 +1178,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.mag_scale[2], }; - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) { warn("WARNING: failed to set scale / offsets for mag"); + } close(fd); @@ -1152,8 +1194,10 @@ Sensors::parameter_update_poll(bool forced) 1.0f, }; - if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) + if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { warn("WARNING: failed to set scale / offsets for airspeed sensor"); + } + close(fd); } @@ -1171,22 +1215,27 @@ void Sensors::adc_poll(struct sensor_combined_s &raw) { /* only read if publishing */ - if (!_publishing) + if (!_publishing) { return; + } hrt_abstime t = hrt_absolute_time(); + /* rate limit to 100 Hz */ if (t - _last_adc >= 10000) { - /* make space for a maximum of eight channels */ - struct adc_msg_s buf_adc[8]; + /* make space for a maximum of twelve channels (to ensure reading all channels at once) */ + struct adc_msg_s buf_adc[12]; /* read all channels available */ int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc)); if (ret >= (int)sizeof(buf_adc[0])) { - for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) { + + /* Read add channels we got */ + for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) { /* Save raw voltage values */ - if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) { + if (i < (sizeof(raw.adc_voltage_v) / sizeof(raw.adc_voltage_v[0]))) { raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f); + raw.adc_mapping[i] = buf_adc[i].am_channel; } /* look for specific channels and process the raw voltage to measurement data */ @@ -1196,6 +1245,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw) if (voltage > BATT_V_IGNORE_THRESHOLD) { _battery_status.voltage_v = voltage; + /* one-time initialization of low-pass value to avoid long init delays */ if (_battery_status.voltage_filtered_v < BATT_V_IGNORE_THRESHOLD) { _battery_status.voltage_filtered_v = voltage; @@ -1214,19 +1264,24 @@ Sensors::adc_poll(struct sensor_combined_s &raw) /* handle current only if voltage is valid */ if (_battery_status.voltage_v > 0.0f) { float current = (buf_adc[i].am_data * _parameters.battery_current_scaling); + /* check measured current value */ if (current >= 0.0f) { _battery_status.timestamp = t; _battery_status.current_a = current; + if (_battery_current_timestamp != 0) { /* initialize discharged value */ - if (_battery_status.discharged_mah < 0.0f) + if (_battery_status.discharged_mah < 0.0f) { _battery_status.discharged_mah = 0.0f; + } + _battery_discharged += current * (t - _battery_current_timestamp); _battery_status.discharged_mah = ((float) _battery_discharged) / 3600000.0f; } } } + _battery_current_timestamp = t; } else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) { @@ -1245,6 +1300,8 @@ Sensors::adc_poll(struct sensor_combined_s &raw) _diff_pres.timestamp = t; _diff_pres.differential_pressure_pa = diff_pres_pa; + _diff_pres.differential_pressure_filtered_pa = diff_pres_pa; + _diff_pres.temperature = -1000.0f; _diff_pres.voltage = voltage; /* announce the airspeed if needed, just publish else */ @@ -1257,8 +1314,10 @@ Sensors::adc_poll(struct sensor_combined_s &raw) } } } + _last_adc = t; - if (_battery_status.voltage_v > 0.0f) { + + if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) { /* announce the battery status if needed, just publish else */ if (_battery_pub > 0) { orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status); @@ -1271,6 +1330,66 @@ Sensors::adc_poll(struct sensor_combined_s &raw) } } +float +Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value) +{ + if (_rc.function[func] >= 0) { + float value = _rc.chan[_rc.function[func]].scaled; + + if (value < min_value) { + return min_value; + + } else if (value > max_value) { + return max_value; + + } else { + return value; + } + + } else { + return 0.0f; + } +} + +switch_pos_t +Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv) +{ + if (_rc.function[func] >= 0) { + float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + + if (on_inv ? value < on_th : value > on_th) { + return SWITCH_POS_ON; + + } else if (mid_inv ? value < mid_th : value > mid_th) { + return SWITCH_POS_MIDDLE; + + } else { + return SWITCH_POS_OFF; + } + + } else { + return SWITCH_POS_NONE; + } +} + +switch_pos_t +Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv) +{ + if (_rc.function[func] >= 0) { + float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + + if (on_inv ? value < on_th : value > on_th) { + return SWITCH_POS_ON; + + } else { + return SWITCH_POS_OFF; + } + + } else { + return SWITCH_POS_NONE; + } +} + void Sensors::rc_poll() { @@ -1279,71 +1398,58 @@ Sensors::rc_poll() if (rc_updated) { /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ - struct rc_input_values rc_input; + struct rc_input_values rc_input; orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); - if (rc_input.rc_lost) - return; + /* detect RC signal loss */ + bool signal_lost; - struct manual_control_setpoint_s manual_control; - struct actuator_controls_s actuator_group_3; + /* check flags and require at least four channels to consider the signal valid */ + if (rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4) { + /* signal is lost or no enough channels */ + signal_lost = true; - /* initialize to default values */ - manual_control.roll = NAN; - manual_control.pitch = NAN; - manual_control.yaw = NAN; - manual_control.throttle = NAN; + } else { + /* signal looks good */ + signal_lost = false; - manual_control.mode_switch = NAN; - manual_control.return_switch = NAN; - manual_control.assisted_switch = NAN; - manual_control.mission_switch = NAN; - manual_control.acro_switch = NAN; -// manual_control.auto_offboard_input_switch = NAN; + /* check failsafe */ + int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle - manual_control.flaps = NAN; - manual_control.aux1 = NAN; - manual_control.aux2 = NAN; - manual_control.aux3 = NAN; - manual_control.aux4 = NAN; - manual_control.aux5 = NAN; + if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping + fs_ch = _parameters.rc_map_failsafe - 1; + } - /* require at least four channels to consider the signal valid */ - if (rc_input.channel_count < 4) - return; - - /* failsafe check */ - if (_parameters.rc_fs_ch != 0) { - if (_parameters.rc_fs_mode == 0) { - if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr) - return; - - } else if (_parameters.rc_fs_mode == 1) { - if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr) - return; + if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) { + /* failsafe configured */ + if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) || + (_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) { + /* failsafe triggered, signal is lost by receiver */ + signal_lost = true; + } } } unsigned channel_limit = rc_input.channel_count; - if (channel_limit > _rc_max_chan_count) + if (channel_limit > _rc_max_chan_count) { channel_limit = _rc_max_chan_count; + } - /* we are accepting this message */ - _rc_last_valid = rc_input.timestamp_last_signal; - - /* Read out values from raw message */ + /* read out and scale values from raw message even if signal is invalid */ for (unsigned int i = 0; i < channel_limit; i++) { /* * 1) Constrain to min/max values, as later processing depends on bounds. */ - if (rc_input.values[i] < _parameters.min[i]) + if (rc_input.values[i] < _parameters.min[i]) { rc_input.values[i] = _parameters.min[i]; + } - if (rc_input.values[i] > _parameters.max[i]) + if (rc_input.values[i] > _parameters.max[i]) { rc_input.values[i] = _parameters.max[i]; + } /* * 2) Scale around the mid point differently for lower and upper range. @@ -1375,140 +1481,82 @@ Sensors::rc_poll() _rc.chan[i].scaled *= _parameters.rev[i]; /* handle any parameter-induced blowups */ - if (!isfinite(_rc.chan[i].scaled)) + if (!isfinite(_rc.chan[i].scaled)) { _rc.chan[i].scaled = 0.0f; - } - - _rc.chan_count = rc_input.channel_count; - _rc.timestamp = rc_input.timestamp_last_signal; - - manual_control.timestamp = rc_input.timestamp_last_signal; - - /* roll input - rolling right is stick-wise and rotation-wise positive */ - manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled); - /* - * pitch input - stick down is negative, but stick down is pitching up (pos) in NED, - * so reverse sign. - */ - manual_control.pitch = limit_minus_one_to_one(-1.0f * _rc.chan[_rc.function[PITCH]].scaled); - /* yaw input - stick right is positive and positive rotation */ - manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled); - /* throttle input */ - manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled; - - if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f; - - if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f; - - /* scale output */ - if (isfinite(_parameters.rc_scale_roll) && _parameters.rc_scale_roll > 0.0f) { - manual_control.roll *= _parameters.rc_scale_roll; - } - - if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) { - manual_control.pitch *= _parameters.rc_scale_pitch; - } - - if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) { - manual_control.yaw *= _parameters.rc_scale_yaw; - } - - /* flaps */ - if (_rc.function[FLAPS] >= 0) { - - manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled); - - if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) { - manual_control.flaps *= _parameters.rc_scale_flaps; } } - /* mode switch input */ - if (_rc.function[MODE] >= 0) { - manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); - } + _rc.chan_count = rc_input.channel_count; + _rc.rssi = rc_input.rssi; + _rc.signal_lost = signal_lost; + _rc.timestamp = rc_input.timestamp_last_signal; - /* assisted switch input */ - if (_rc.function[ASSISTED] >= 0) { - manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled); - } - - /* mission switch input */ - if (_rc.function[MISSION] >= 0) { - manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); - } - - /* acro switch input */ - if (_rc.function[ACRO] >= 0) { - manual_control.acro_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ACRO]].scaled); - } - - /* return switch input */ - if (_rc.function[RETURN] >= 0) { - manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled); - } - -// if (_rc.function[OFFBOARD_MODE] >= 0) { -// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled); -// } - - /* aux functions, only assign if valid mapping is present */ - if (_rc.function[AUX_1] >= 0) { - manual_control.aux1 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_1]].scaled); - } - - if (_rc.function[AUX_2] >= 0) { - manual_control.aux2 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_2]].scaled); - } - - if (_rc.function[AUX_3] >= 0) { - manual_control.aux3 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_3]].scaled); - } - - if (_rc.function[AUX_4] >= 0) { - manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled); - } - - if (_rc.function[AUX_5] >= 0) { - manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled); - } - - /* copy from mapped manual control to control group 3 */ - actuator_group_3.control[0] = manual_control.roll; - actuator_group_3.control[1] = manual_control.pitch; - actuator_group_3.control[2] = manual_control.yaw; - actuator_group_3.control[3] = manual_control.throttle; - actuator_group_3.control[4] = manual_control.flaps; - actuator_group_3.control[5] = manual_control.aux1; - actuator_group_3.control[6] = manual_control.aux2; - actuator_group_3.control[7] = manual_control.aux3; - - /* check if ready for publishing */ + /* publish rc_channels topic even if signal is invalid, for debug */ if (_rc_pub > 0) { orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc); } else { - /* advertise the rc topic */ _rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc); } - /* check if ready for publishing */ - if (_manual_control_pub > 0) { - orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control); + if (!signal_lost) { + struct manual_control_setpoint_s manual; + memset(&manual, 0 , sizeof(manual)); - } else { - _manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control); - } + /* fill values in manual_control_setpoint topic only if signal is valid */ + manual.timestamp = rc_input.timestamp_last_signal; - /* check if ready for publishing */ - if (_actuator_group_3_pub > 0) { - orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3); + /* limit controls */ + manual.y = get_rc_value(ROLL, -1.0, 1.0); + manual.x = get_rc_value(PITCH, -1.0, 1.0); + manual.r = get_rc_value(YAW, -1.0, 1.0); + manual.z = get_rc_value(THROTTLE, 0.0, 1.0); + manual.flaps = get_rc_value(FLAPS, -1.0, 1.0); + manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0); + manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0); + manual.aux3 = get_rc_value(AUX_3, -1.0, 1.0); + manual.aux4 = get_rc_value(AUX_4, -1.0, 1.0); + manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0); - } else { - _actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3); + /* mode switches */ + manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv); + manual.posctl_switch = get_rc_sw2pos_position(POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv); + manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv); + manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv); + manual.acro_switch = get_rc_sw2pos_position(ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv); + + /* publish manual_control_setpoint topic */ + if (_manual_control_pub > 0) { + orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual); + + } else { + _manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); + } + + /* copy from mapped manual control to control group 3 */ + struct actuator_controls_s actuator_group_3; + memset(&actuator_group_3, 0 , sizeof(actuator_group_3)); + + actuator_group_3.timestamp = rc_input.timestamp_last_signal; + + actuator_group_3.control[0] = manual.y; + actuator_group_3.control[1] = manual.x; + actuator_group_3.control[2] = manual.r; + actuator_group_3.control[3] = manual.z; + actuator_group_3.control[4] = manual.flaps; + actuator_group_3.control[5] = manual.aux1; + actuator_group_3.control[6] = manual.aux2; + actuator_group_3.control[7] = manual.aux3; + + /* publish actuator_controls_3 topic */ + if (_actuator_group_3_pub > 0) { + orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3); + + } else { + _actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3); + } } } - } void @@ -1585,12 +1633,10 @@ Sensors::task_main() while (!_task_should_exit) { - /* wait for up to 100ms for data */ - int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + /* wait for up to 50ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50); - /* timed out - periodic check for _task_should_exit, etc. */ - if (pret == 0) - continue; + /* if pret == 0 it timed out - periodic check for _task_should_exit, etc. */ /* this is undesirable but not much we can do - might want to flag unhappy status */ if (pret < 0) { @@ -1606,8 +1652,7 @@ Sensors::task_main() /* check parameters for updates */ parameter_update_poll(); - /* store the time closest to all measurements (this is bogus, sensor timestamps should be propagated...) */ - raw.timestamp = hrt_absolute_time(); + /* the timestamp of the raw struct is updated by the gyro_poll() method */ /* copy most recent sensor data */ gyro_poll(raw); @@ -1621,8 +1666,9 @@ Sensors::task_main() diff_pres_poll(raw); /* Inform other processes that new data is available to copy */ - if (_publishing) + if (_publishing) { orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw); + } /* Look for new r/c input data */ rc_poll(); @@ -1630,7 +1676,7 @@ Sensors::task_main() perf_end(_loop_perf); } - printf("[sensors] exiting.\n"); + warnx("[sensors] exiting."); _sensors_task = -1; _exit(0); @@ -1645,7 +1691,7 @@ Sensors::start() _sensors_task = task_spawn_cmd("sensors_task", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2048, + 2000, (main_t)&Sensors::task_main_trampoline, nullptr); @@ -1659,18 +1705,21 @@ Sensors::start() int sensors_main(int argc, char *argv[]) { - if (argc < 1) + if (argc < 1) { errx(1, "usage: sensors {start|stop|status}"); + } if (!strcmp(argv[1], "start")) { - if (sensors::g_sensors != nullptr) + if (sensors::g_sensors != nullptr) { errx(0, "already running"); + } sensors::g_sensors = new Sensors; - if (sensors::g_sensors == nullptr) + if (sensors::g_sensors == nullptr) { errx(1, "alloc failed"); + } if (OK != sensors::g_sensors->start()) { delete sensors::g_sensors; @@ -1682,8 +1731,9 @@ int sensors_main(int argc, char *argv[]) } if (!strcmp(argv[1], "stop")) { - if (sensors::g_sensors == nullptr) + if (sensors::g_sensors == nullptr) { errx(1, "not running"); + } delete sensors::g_sensors; sensors::g_sensors = nullptr; @@ -1702,4 +1752,3 @@ int sensors_main(int argc, char *argv[]) warnx("unrecognized command"); return 1; } - diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 1c889a8119..fa9d28b74c 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -516,7 +516,7 @@ private: float _roll_scale; float _pitch_scale; float _yaw_scale; - float _deadband; + float _idle_speed; unsigned _rotor_count; const Rotor *_rotors; diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c index b05273c0de..bf3428a50b 100644 --- a/src/modules/systemlib/mixer/mixer_load.c +++ b/src/modules/systemlib/mixer/mixer_load.c @@ -41,6 +41,7 @@ #include #include #include +#include #include "mixer_load.h" diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index bf77795d5c..1ca0a21e97 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -67,6 +67,11 @@ namespace { +float constrain(float val, float min, float max) +{ + return (val < min) ? min : ((val > max) ? max : val); +} + /* * These tables automatically generated by multi_tables - do not edit. */ @@ -171,12 +176,12 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb, float roll_scale, float pitch_scale, float yaw_scale, - float deadband) : + float idle_speed) : Mixer(control_cb, cb_handle), _roll_scale(roll_scale), _pitch_scale(pitch_scale), _yaw_scale(yaw_scale), - _deadband(-1.0f + deadband), /* shift to output range here to avoid runtime calculation */ + _idle_speed(-1.0f + idle_speed * 2.0f), /* shift to output range here to avoid runtime calculation */ _rotor_count(_config_rotor_count[geometry]), _rotors(_config_index[geometry]) { @@ -276,67 +281,67 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl unsigned MultirotorMixer::mix(float *outputs, unsigned space) { - float roll = get_control(0, 0) * _roll_scale; + float roll = constrain(get_control(0, 0) * _roll_scale, -1.0f, 1.0f); //lowsyslog("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale)); - float pitch = get_control(0, 1) * _pitch_scale; - float yaw = get_control(0, 2) * _yaw_scale; - float thrust = get_control(0, 3); + float pitch = constrain(get_control(0, 1) * _pitch_scale, -1.0f, 1.0f); + float yaw = constrain(get_control(0, 2) * _yaw_scale, -1.0f, 1.0f); + float thrust = constrain(get_control(0, 3), 0.0f, 1.0f); //lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3))); - float max = 0.0f; - float fixup_scale; + float min_out = 0.0f; + float max_out = 0.0f; + float scale_yaw = 1.0f; - /* use an output factor to prevent too strong control signals at low throttle */ - float min_thrust = 0.05f; - float max_thrust = 1.0f; - float startpoint_full_control = 0.40f; - float output_factor; - - /* keep roll, pitch and yaw control to 0 below min thrust */ - if (thrust <= min_thrust) { - output_factor = 0.0f; - /* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */ - - } else if (thrust < startpoint_full_control && thrust > min_thrust) { - output_factor = (thrust / max_thrust) / (startpoint_full_control - min_thrust); - /* and then stay at full control */ - - } else { - output_factor = max_thrust; - } - - roll *= output_factor; - pitch *= output_factor; - yaw *= output_factor; - - - /* perform initial mix pass yielding un-bounded outputs */ + /* perform initial mix pass yielding unbounded outputs, ignore yaw */ for (unsigned i = 0; i < _rotor_count; i++) { - float tmp = roll * _rotors[i].roll_scale + + float out = roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale + - yaw * _rotors[i].yaw_scale + thrust; - if (tmp > max) - max = tmp; + /* limit yaw if it causes outputs clipping */ + if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) { + yaw = -out / _rotors[i].yaw_scale; + } - outputs[i] = tmp; + /* calculate min and max output values */ + if (out < min_out) { + min_out = out; + } + if (out > max_out) { + max_out = out; + } + + outputs[i] = out; } - /* scale values into the -1.0 - 1.0 range */ - if (max > 1.0f) { - fixup_scale = 2.0f / max; + /* scale down roll/pitch controls if some outputs are negative, don't add yaw, keep total thrust */ + if (min_out < 0.0) { + float scale_in = thrust / (thrust - min_out); + + /* mix again with adjusted controls */ + for (unsigned i = 0; i < _rotor_count; i++) { + outputs[i] = scale_in * (roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) + thrust; + } } else { - fixup_scale = 2.0f; + /* roll/pitch mixed without limiting, add yaw control */ + for (unsigned i = 0; i < _rotor_count; i++) { + outputs[i] += yaw * _rotors[i].yaw_scale; + } } - for (unsigned i = 0; i < _rotor_count; i++) - outputs[i] = -1.0f + (outputs[i] * fixup_scale); + /* scale down all outputs if some outputs are too large, reduce total thrust */ + float scale_out; + if (max_out > 1.0f) { + scale_out = 1.0f / max_out; - /* ensure outputs are out of the deadband */ - for (unsigned i = 0; i < _rotor_count; i++) - if (outputs[i] < _deadband) - outputs[i] = _deadband; + } else { + scale_out = 1.0f; + } + + /* scale outputs to range _idle_speed..1 */ + for (unsigned i = 0; i < _rotor_count; i++) { + outputs[i] = _idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out); + } return _rotor_count; } diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c index 2d773fd251..7a499ca72e 100644 --- a/src/modules/systemlib/param/param.c +++ b/src/modules/systemlib/param/param.c @@ -521,73 +521,15 @@ param_save_default(void) return ERROR; } - if (res == OK) { - res = param_export(fd, false); + res = param_export(fd, false); - if (res != OK) { - warnx("failed to write parameters to file: %s", filename); - } + if (res != OK) { + warnx("failed to write parameters to file: %s", filename); } close(fd); return res; - -#if 0 - const char *filename_tmp = malloc(strlen(filename) + 5); - sprintf(filename_tmp, "%s.tmp", filename); - - /* delete temp file if exist */ - res = unlink(filename_tmp); - - if (res != OK && errno == ENOENT) - res = OK; - - if (res != OK) - warn("failed to delete temp file: %s", filename_tmp); - - if (res == OK) { - /* write parameters to temp file */ - fd = open(filename_tmp, O_WRONLY | O_CREAT | O_EXCL); - - if (fd < 0) { - warn("failed to open temp file: %s", filename_tmp); - res = ERROR; - } - - if (res == OK) { - res = param_export(fd, false); - - if (res != OK) - warnx("failed to write parameters to file: %s", filename_tmp); - } - - close(fd); - } - - if (res == OK) { - /* delete parameters file */ - res = unlink(filename); - - if (res != OK && errno == ENOENT) - res = OK; - - if (res != OK) - warn("failed to delete parameters file: %s", filename); - } - - if (res == OK) { - /* rename temp file to parameters */ - res = rename(filename_tmp, filename); - - if (res != OK) - warn("failed to rename %s to %s", filename_tmp, filename); - } - - free(filename_tmp); - - return res; -#endif } /** diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 6a4e9392a2..45f218a5bc 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -53,7 +53,7 @@ #define SIGMA 0.000001f -__EXPORT void pid_init(PID_t *pid, uint8_t mode, float dt_min) +__EXPORT void pid_init(PID_t *pid, pid_mode_t mode, float dt_min) { pid->mode = mode; pid->dt_min = dt_min; diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c index 21e15ec563..c0c1a5cb45 100644 --- a/src/modules/systemlib/rc_check.c +++ b/src/modules/systemlib/rc_check.c @@ -140,7 +140,7 @@ int rc_calibration_check(int mavlink_fd) { /* sanity checks pass, enable channel */ if (count) { mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); - warnx(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); + warnx("ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); usleep(100000); } diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c index cb35a25413..702e435ac9 100644 --- a/src/modules/systemlib/system_params.c +++ b/src/modules/systemlib/system_params.c @@ -60,3 +60,25 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0); * @group System */ PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0); + +/** +* Set usage of IO board +* +* Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up. +* +* @min 0 +* @max 1 +* @group System +*/ +PARAM_DEFINE_INT32(SYS_USE_IO, 1); + +/** +* Set restart type +* +* Set by px4io to indicate type of restart +* +* @min 0 +* @max 2 +* @group System +*/ +PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2); diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp new file mode 100644 index 0000000000..5a59816172 --- /dev/null +++ b/src/modules/uORB/Publication.cpp @@ -0,0 +1,80 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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 Publication.cpp + * + */ + +#include "Publication.hpp" +#include "topics/vehicle_attitude.h" +#include "topics/vehicle_local_position.h" +#include "topics/vehicle_global_position.h" +#include "topics/debug_key_value.h" +#include "topics/actuator_controls.h" +#include "topics/vehicle_global_velocity_setpoint.h" +#include "topics/vehicle_attitude_setpoint.h" +#include "topics/vehicle_rates_setpoint.h" +#include "topics/actuator_outputs.h" +#include "topics/encoders.h" + +namespace uORB { + +template +Publication::Publication( + List * list, + const struct orb_metadata *meta) : + T(), // initialize data structure to zero + PublicationBase(list, meta) { +} + +template +Publication::~Publication() {} + +template +void * Publication::getDataVoidPtr() { + return (void *)(T *)(this); +} + +template class __EXPORT Publication; +template class __EXPORT Publication; +template class __EXPORT Publication; +template class __EXPORT Publication; +template class __EXPORT Publication; +template class __EXPORT Publication; +template class __EXPORT Publication; +template class __EXPORT Publication; +template class __EXPORT Publication; +template class __EXPORT Publication; + +} diff --git a/src/modules/controllib/uorb/UOrbPublication.hpp b/src/modules/uORB/Publication.hpp similarity index 81% rename from src/modules/controllib/uorb/UOrbPublication.hpp rename to src/modules/uORB/Publication.hpp index 6f1f3fc1c0..8650b3df89 100644 --- a/src/modules/controllib/uorb/UOrbPublication.hpp +++ b/src/modules/uORB/Publication.hpp @@ -32,32 +32,29 @@ ****************************************************************************/ /** - * @file UOrbPublication.h + * @file Publication.h * */ #pragma once #include -#include "../block/Block.hpp" -#include "../block/List.hpp" +#include -namespace control +namespace uORB { -class Block; - /** * Base publication warapper class, used in list traversal * of various publications. */ -class __EXPORT UOrbPublicationBase : public ListNode +class __EXPORT PublicationBase : public ListNode { public: - UOrbPublicationBase( - List * list, + PublicationBase( + List * list, const struct orb_metadata *meta) : _meta(meta), _handle(-1) { @@ -71,7 +68,7 @@ public: } } virtual void *getDataVoidPtr() = 0; - virtual ~UOrbPublicationBase() { + virtual ~PublicationBase() { orb_unsubscribe(getHandle()); } const struct orb_metadata *getMeta() { return _meta; } @@ -83,12 +80,12 @@ protected: }; /** - * UOrb Publication wrapper class + * Publication wrapper class */ template -class UOrbPublication : +class Publication : public T, // this must be first! - public UOrbPublicationBase + public PublicationBase { public: /** @@ -98,13 +95,9 @@ public: * @param meta The uORB metadata (usually from the ORB_ID() macro) * for the topic. */ - UOrbPublication( - List * list, - const struct orb_metadata *meta) : - T(), // initialize data structure to zero - UOrbPublicationBase(list, meta) { - } - virtual ~UOrbPublication() {} + Publication(List * list, + const struct orb_metadata *meta); + virtual ~Publication(); /* * XXX * This function gets the T struct, assuming @@ -112,7 +105,7 @@ public: * should use dynamic cast, but doesn't * seem to be available */ - void *getDataVoidPtr() { return (void *)(T *)(this); } + void *getDataVoidPtr(); }; -} // namespace control +} // namespace uORB diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp new file mode 100644 index 0000000000..c1d1a938f1 --- /dev/null +++ b/src/modules/uORB/Subscription.cpp @@ -0,0 +1,103 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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 Subscription.cpp + * + */ + +#include "Subscription.hpp" +#include "topics/parameter_update.h" +#include "topics/actuator_controls.h" +#include "topics/vehicle_gps_position.h" +#include "topics/sensor_combined.h" +#include "topics/vehicle_attitude.h" +#include "topics/vehicle_global_position.h" +#include "topics/encoders.h" +#include "topics/position_setpoint_triplet.h" +#include "topics/vehicle_status.h" +#include "topics/manual_control_setpoint.h" +#include "topics/vehicle_local_position_setpoint.h" +#include "topics/vehicle_local_position.h" +#include "topics/vehicle_attitude_setpoint.h" +#include "topics/vehicle_rates_setpoint.h" + +namespace uORB +{ + +bool __EXPORT SubscriptionBase::updated() +{ + bool isUpdated = false; + orb_check(_handle, &isUpdated); + return isUpdated; +} + +template +Subscription::Subscription( + List * list, + const struct orb_metadata *meta, unsigned interval) : + T(), // initialize data structure to zero + SubscriptionBase(list, meta) { + setHandle(orb_subscribe(getMeta())); + orb_set_interval(getHandle(), interval); +} + +template +Subscription::~Subscription() {} + +template +void * Subscription::getDataVoidPtr() { + return (void *)(T *)(this); +} + +template +T Subscription::getData() { + return T(*this); +} + +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; +template class __EXPORT Subscription; + +} // namespace uORB diff --git a/src/modules/controllib/uorb/UOrbSubscription.hpp b/src/modules/uORB/Subscription.hpp similarity index 78% rename from src/modules/controllib/uorb/UOrbSubscription.hpp rename to src/modules/uORB/Subscription.hpp index d337d89a88..34e9a83e03 100644 --- a/src/modules/controllib/uorb/UOrbSubscription.hpp +++ b/src/modules/uORB/Subscription.hpp @@ -32,28 +32,25 @@ ****************************************************************************/ /** - * @file UOrbSubscription.h + * @file Subscription.h * */ #pragma once #include -#include "../block/Block.hpp" -#include "../block/List.hpp" +#include -namespace control +namespace uORB { -class Block; - /** * Base subscription warapper class, used in list traversal * of various subscriptions. */ -class __EXPORT UOrbSubscriptionBase : - public ListNode +class __EXPORT SubscriptionBase : + public ListNode { public: // methods @@ -64,8 +61,8 @@ public: * @param meta The uORB metadata (usually from the ORB_ID() macro) * for the topic. */ - UOrbSubscriptionBase( - List * list, + SubscriptionBase( + List * list, const struct orb_metadata *meta) : _meta(meta), _handle() { @@ -78,7 +75,7 @@ public: } } virtual void *getDataVoidPtr() = 0; - virtual ~UOrbSubscriptionBase() { + virtual ~SubscriptionBase() { orb_unsubscribe(_handle); } // accessors @@ -93,12 +90,12 @@ protected: }; /** - * UOrb Subscription wrapper class + * Subscription wrapper class */ template -class __EXPORT UOrbSubscription : +class __EXPORT Subscription : public T, // this must be first! - public UOrbSubscriptionBase + public SubscriptionBase { public: /** @@ -109,19 +106,13 @@ public: * for the topic. * @param interval The minimum interval in milliseconds between updates */ - UOrbSubscription( - List * list, - const struct orb_metadata *meta, unsigned interval) : - T(), // initialize data structure to zero - UOrbSubscriptionBase(list, meta) { - setHandle(orb_subscribe(getMeta())); - orb_set_interval(getHandle(), interval); - } - + Subscription( + List * list, + const struct orb_metadata *meta, unsigned interval); /** * Deconstructor */ - virtual ~UOrbSubscription() {} + virtual ~Subscription(); /* * XXX @@ -130,8 +121,8 @@ public: * should use dynamic cast, but doesn't * seem to be available */ - void *getDataVoidPtr() { return (void *)(T *)(this); } - T getData() { return T(*this); } + void *getDataVoidPtr(); + T getData(); }; -} // namespace control +} // namespace uORB diff --git a/src/modules/uORB/module.mk b/src/modules/uORB/module.mk index 5ec31ab010..0c29101fec 100644 --- a/src/modules/uORB/module.mk +++ b/src/modules/uORB/module.mk @@ -41,4 +41,6 @@ MODULE_COMMAND = uorb MODULE_STACKSIZE = 4096 SRCS = uORB.cpp \ - objects_common.cpp + objects_common.cpp \ + Publication.cpp \ + Subscription.cpp diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 4c84c1f25e..90675bb2e9 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -90,6 +90,9 @@ ORB_DEFINE(battery_status, struct battery_status_s); #include "topics/servorail_status.h" ORB_DEFINE(servorail_status, struct servorail_status_s); +#include "topics/system_power.h" +ORB_DEFINE(system_power, struct system_power_s); + #include "topics/vehicle_global_position.h" ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s); @@ -124,7 +127,7 @@ ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s); ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s); #include "topics/mission.h" -ORB_DEFINE(mission, struct mission_s); +ORB_DEFINE(offboard_mission, struct mission_s); ORB_DEFINE(onboard_mission, struct mission_s); #include "topics/mission_result.h" @@ -190,3 +193,9 @@ ORB_DEFINE(navigation_capabilities, struct navigation_capabilities_s); #include "topics/esc_status.h" ORB_DEFINE(esc_status, struct esc_status_s); + +#include "topics/encoders.h" +ORB_DEFINE(encoders, struct encoders_s); + +#include "topics/estimator_status.h" +ORB_DEFINE(estimator_status, struct estimator_status_report); diff --git a/src/modules/uORB/topics/airspeed.h b/src/modules/uORB/topics/airspeed.h index a3da3758fd..d2ee754cdf 100644 --- a/src/modules/uORB/topics/airspeed.h +++ b/src/modules/uORB/topics/airspeed.h @@ -52,9 +52,10 @@ * Airspeed */ struct airspeed_s { - uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ + uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ float indicated_airspeed_m_s; /**< indicated airspeed in meters per second, -1 if unknown */ - float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */ + float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */ + float air_temperature_celsius; /**< air temperature in degrees celsius, -1000 if unknown */ }; /** diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h index 5d94d42883..01e14cda9e 100644 --- a/src/modules/uORB/topics/differential_pressure.h +++ b/src/modules/uORB/topics/differential_pressure.h @@ -52,12 +52,14 @@ * Differential pressure. */ struct differential_pressure_s { - uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ - uint64_t error_count; - float differential_pressure_pa; /**< Differential pressure reading */ - float max_differential_pressure_pa; /**< Maximum differential pressure reading */ - float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */ - float temperature; /**< Temperature provided by sensor */ + uint64_t timestamp; /**< Microseconds since system boot, needed to integrate */ + uint64_t error_count; /**< Number of errors detected by driver */ + float differential_pressure_pa; /**< Differential pressure reading */ + float differential_pressure_raw_pa; /**< Raw differential pressure reading (may be negative) */ + float differential_pressure_filtered_pa; /**< Low pass filtered differential pressure reading */ + float max_differential_pressure_pa; /**< Maximum differential pressure reading */ + float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */ + float temperature; /**< Temperature provided by sensor, -1000.0f if unknown */ }; diff --git a/src/modules/mavlink/mavlink_hil.h b/src/modules/uORB/topics/encoders.h similarity index 79% rename from src/modules/mavlink/mavlink_hil.h rename to src/modules/uORB/topics/encoders.h index 744ed7d942..588c0ddb13 100644 --- a/src/modules/mavlink/mavlink_hil.h +++ b/src/modules/uORB/topics/encoders.h @@ -1,7 +1,6 @@ /**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,20 +32,35 @@ ****************************************************************************/ /** - * @file mavlink_hil.h - * Hardware-in-the-loop simulation support. + * @file encoders.h + * + * Encoders topic. + * */ -#pragma once +#ifndef TOPIC_ENCODERS_H +#define TOPIC_ENCODERS_H -extern bool mavlink_hil_enabled; +#include +#include "../uORB.h" /** - * 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. + * @addtogroup topics + * @{ */ -extern int set_hil_on_off(bool hil_enabled); + +#define NUM_ENCODERS 4 + +struct encoders_s { + uint64_t timestamp; + int64_t counts[NUM_ENCODERS]; // counts of encoder + float velocity[NUM_ENCODERS]; // counts of encoder/ second +}; + +/** + * @} + */ + +ORB_DECLARE(encoders); + +#endif diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h index 11332d7a7a..628824efa8 100644 --- a/src/modules/uORB/topics/esc_status.h +++ b/src/modules/uORB/topics/esc_status.h @@ -60,7 +60,7 @@ enum ESC_VENDOR { ESC_VENDOR_GENERIC = 0, /**< generic ESC */ ESC_VENDOR_MIKROKOPTER, /**< Mikrokopter */ - ESC_VENDOR_GRAUPNER_HOTT /**< Graupner HoTT ESC */ + ESC_VENDOR_GRAUPNER_HOTT /**< Graupner HoTT ESC */ }; enum ESC_CONNECTION_TYPE { @@ -79,16 +79,15 @@ enum ESC_CONNECTION_TYPE { /** * Electronic speed controller status. */ -struct esc_status_s -{ +struct esc_status_s { /* use of a counter and timestamp recommended (but not necessary) */ uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - + uint8_t esc_count; /**< number of connected ESCs */ enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */ - + struct { uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */ enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */ diff --git a/src/modules/uORB/topics/estimator_status.h b/src/modules/uORB/topics/estimator_status.h new file mode 100644 index 0000000000..5530cdb210 --- /dev/null +++ b/src/modules/uORB/topics/estimator_status.h @@ -0,0 +1,80 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * 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 estimator_status.h + * Definition of the estimator_status_report uORB topic. + * + * @author Lorenz Meier + */ + +#ifndef ESTIMATOR_STATUS_H_ +#define ESTIMATOR_STATUS_H_ + +#include +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Estimator status report. + * + * This is a generic status report struct which allows any of the onboard estimators + * to write the internal state to the system log. + * + */ +struct estimator_status_report { + + /* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes - change with consideration only */ + + uint64_t timestamp; /**< Timestamp in microseconds since boot */ + float states[32]; /**< Internal filter states */ + float n_states; /**< Number of states effectively used */ + bool states_nan; /**< If set to true, one of the states is NaN */ + bool covariance_nan; /**< If set to true, the covariance matrix went NaN */ + bool kalman_gain_nan; /**< If set to true, the Kalman gain matrix went NaN */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(estimator_status); + +#endif diff --git a/src/modules/uORB/topics/filtered_bottom_flow.h b/src/modules/uORB/topics/filtered_bottom_flow.h index ab6de26131..c5d5455422 100644 --- a/src/modules/uORB/topics/filtered_bottom_flow.h +++ b/src/modules/uORB/topics/filtered_bottom_flow.h @@ -53,8 +53,7 @@ /** * Filtered bottom flow in bodyframe. */ -struct filtered_bottom_flow_s -{ +struct filtered_bottom_flow_s { uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ float sumx; /**< Integrated bodyframe x flow in meters */ diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 190dc01c8e..910b8a6239 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -43,6 +43,16 @@ #include #include "../uORB.h" +/** + * Switch position + */ +typedef enum { + SWITCH_POS_NONE = 0, /**< switch is not mapped */ + SWITCH_POS_ON, /**< switch activated (value = 1) */ + SWITCH_POS_MIDDLE, /**< middle position (value = 0) */ + SWITCH_POS_OFF /**< switch not activated (value = -1) */ +} switch_pos_t; + /** * @addtogroup topics * @{ @@ -51,33 +61,43 @@ struct manual_control_setpoint_s { uint64_t timestamp; - float roll; /**< ailerons roll / roll rate input */ - float pitch; /**< elevator / pitch / pitch rate */ - float yaw; /**< rudder / yaw rate / yaw */ - float throttle; /**< throttle / collective thrust / altitude */ - - float mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ - float return_switch; /**< land 2 position switch (mandatory): land, no effect */ - float assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ - float mission_switch; /**< mission 2 position switch (optional): mission, loiter */ - float acro_switch; /**< acro 2 position switch (optional): normal, acro */ - /** - * Any of the channels below may not be available and be set to NaN + * Any of the channels may not be available and be set to NaN * to indicate that it does not contain valid data. + * The variable names follow the definition of the + * MANUAL_CONTROL mavlink message. + * The default range is from -1 to 1 (mavlink message -1000 to 1000) + * The range for the z variable is defined from 0 to 1. (The z field of + * the MANUAL_CONTROL mavlink message is defined from -1000 to 1000) */ + float x; /**< stick position in x direction -1..1 + in general corresponds to forward/back motion or pitch of vehicle, + in general a positive value means forward or negative pitch and + a negative value means backward or positive pitch */ + float y; /**< stick position in y direction -1..1 + in general corresponds to right/left motion or roll of vehicle, + in general a positive value means right or positive roll and + a negative value means left or negative roll */ + float z; /**< throttle stick position 0..1 + in general corresponds to up/down motion or thrust of vehicle, + in general the value corresponds to the demanded throttle by the user, + if the input is used for setting the setpoint of a vertical position + controller any value > 0.5 means up and any value < 0.5 means down */ + float r; /**< yaw stick/twist positon, -1..1 + in general corresponds to the righthand rotation around the vertical + (downwards) axis of the vehicle */ + float flaps; /**< flap position */ + float aux1; /**< default function: camera yaw / azimuth */ + float aux2; /**< default function: camera pitch / tilt */ + float aux3; /**< default function: camera trigger */ + float aux4; /**< default function: camera roll */ + float aux5; /**< default function: payload drop */ - // XXX needed or parameter? - //float auto_offboard_input_switch; /**< controller setpoint source (0 = onboard, 1 = offboard) */ - - float flaps; /**< flap position */ - - float aux1; /**< default function: camera yaw / azimuth */ - float aux2; /**< default function: camera pitch / tilt */ - float aux3; /**< default function: camera trigger */ - float aux4; /**< default function: camera roll */ - float aux5; /**< default function: payload drop */ - + switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */ + switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */ + switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */ + switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */ + switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */ }; /**< manual control inputs */ /** diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 194e2ed0c5..ef4bc1defd 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -77,8 +77,7 @@ enum ORIGIN { * This is the position the MAV is heading towards. If it of type loiter, * the MAV is circling around it with the given loiter radius in meters. */ -struct mission_item_s -{ +struct mission_item_s { bool altitude_is_relative; /**< true if altitude is relative from start point */ double lat; /**< latitude in degrees */ double lon; /**< longitude in degrees */ @@ -106,7 +105,7 @@ struct mission_s */ /* register this as object request broker structure */ -ORB_DECLARE(mission); +ORB_DECLARE(offboard_mission); ORB_DECLARE(onboard_mission); #endif diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h index c99706b97a..7c3921198a 100644 --- a/src/modules/uORB/topics/mission_result.h +++ b/src/modules/uORB/topics/mission_result.h @@ -54,7 +54,8 @@ struct mission_result_s { bool mission_reached; /**< true if mission has been reached */ - unsigned mission_index; /**< index of the mission which has been reached */ + unsigned mission_index_reached; /**< index of the mission which has been reached */ + unsigned index_current_mission; /**< index of the current mission */ }; /** diff --git a/src/modules/uORB/topics/navigation_capabilities.h b/src/modules/uORB/topics/navigation_capabilities.h index 391756f99f..7a5ae98914 100644 --- a/src/modules/uORB/topics/navigation_capabilities.h +++ b/src/modules/uORB/topics/navigation_capabilities.h @@ -52,12 +52,12 @@ * Airspeed */ struct navigation_capabilities_s { - float turn_distance; /**< the optimal distance to a waypoint to switch to the next */ + float turn_distance; /**< the optimal distance to a waypoint to switch to the next */ - /* Landing parameters: see fw_pos_control_l1/landingslope.h */ - float landing_horizontal_slope_displacement; - float landing_slope_angle_rad; - float landing_flare_length; + /* Landing parameters: see fw_pos_control_l1/landingslope.h */ + float landing_horizontal_slope_displacement; + float landing_slope_angle_rad; + float landing_flare_length; }; /** diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index 7901b930af..68d3e494be 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -45,12 +45,11 @@ /** * Off-board control inputs. - * + * * Typically sent by a ground control station / joystick or by * some off-board controller via C or SIMULINK. */ -enum OFFBOARD_CONTROL_MODE -{ +enum OFFBOARD_CONTROL_MODE { OFFBOARD_CONTROL_MODE_DIRECT = 0, OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1, OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2, diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h index 98f0e3fa2a..0196ae86b0 100644 --- a/src/modules/uORB/topics/optical_flow.h +++ b/src/modules/uORB/topics/optical_flow.h @@ -57,6 +57,7 @@ struct optical_flow_s { uint64_t timestamp; /**< in microseconds since system start */ + uint64_t flow_timestamp; /**< timestamp from flow sensor */ int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index cf1ddfc38f..34aaa30ddc 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -54,24 +54,24 @@ enum SETPOINT_TYPE { - SETPOINT_TYPE_NORMAL = 0, /**< normal setpoint */ - SETPOINT_TYPE_LOITER, /**< loiter setpoint */ - SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ + SETPOINT_TYPE_NORMAL = 0, /**< normal setpoint */ + SETPOINT_TYPE_LOITER, /**< loiter setpoint */ + SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, vehicle must descend until landing */ SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */ }; struct position_setpoint_s { - bool valid; /**< true if setpoint is valid */ + bool valid; /**< true if setpoint is valid */ enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */ - double lat; /**< latitude, in deg */ - double lon; /**< longitude, in deg */ - float alt; /**< altitude AMSL, in m */ - float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + double lat; /**< latitude, in deg */ + double lon; /**< longitude, in deg */ + float alt; /**< altitude AMSL, in m */ + float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ float loiter_radius; /**< loiter radius (only for fixed wing), in m */ int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ - float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ + float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ }; /** @@ -85,7 +85,7 @@ struct position_setpoint_triplet_s struct position_setpoint_s current; struct position_setpoint_s next; - nav_state_t nav_state; /**< navigation state */ + nav_state_t nav_state; /**< navigation state */ }; /** diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 36106751e2..370c544425 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -52,30 +52,29 @@ */ #define RC_CHANNELS_MAPPED_MAX 16 -/** +/** * This defines the mapping of the RC functions. * The value assigned to the specific function corresponds to the entry of * the channel array chan[]. */ -enum RC_CHANNELS_FUNCTION -{ - THROTTLE = 0, - ROLL, - PITCH, - YAW, - MODE, - RETURN, - ASSISTED, - MISSION, - OFFBOARD_MODE, - ACRO, - FLAPS, - AUX_1, - AUX_2, - AUX_3, - AUX_4, - AUX_5, - RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ +enum RC_CHANNELS_FUNCTION { + THROTTLE = 0, + ROLL = 1, + PITCH = 2, + YAW = 3, + MODE = 4, + RETURN = 5, + POSCTL = 6, + LOITER = 7, + OFFBOARD_MODE = 8, + ACRO = 9, + FLAPS = 10, + AUX_1 = 11, + AUX_2 = 12, + AUX_3 = 13, + AUX_4 = 14, + AUX_5 = 15, + RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ }; /** @@ -86,16 +85,17 @@ enum RC_CHANNELS_FUNCTION struct rc_channels_s { uint64_t timestamp; /**< In microseconds since boot time. */ - uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ - struct { - float scaled; /**< Scaled to -1..1 (throttle: 0..1) */ - } chan[RC_CHANNELS_MAPPED_MAX]; - uint8_t chan_count; /**< number of valid channels */ + uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ + struct { + float scaled; /**< Scaled to -1..1 (throttle: 0..1) */ + } chan[RC_CHANNELS_MAPPED_MAX]; + uint8_t chan_count; /**< number of valid channels */ - /*String array to store the names of the functions*/ - char function_name[RC_CHANNELS_FUNCTION_MAX][20]; - int8_t function[RC_CHANNELS_FUNCTION_MAX]; - uint8_t rssi; /**< Overall receive signal strength */ + /*String array to store the names of the functions*/ + char function_name[RC_CHANNELS_FUNCTION_MAX][20]; + int8_t function[RC_CHANNELS_FUNCTION_MAX]; + uint8_t rssi; /**< Overall receive signal strength */ + bool signal_lost; /**< control signal lost, should be checked together with topic timeout */ }; /**< radio control channels. */ /** diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index ad164555e2..fa3367de9b 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -77,34 +77,36 @@ struct sensor_combined_s { /* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */ - uint64_t timestamp; /**< Timestamp in microseconds since boot */ + uint64_t timestamp; /**< Timestamp in microseconds since boot, from gyro */ int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */ - uint16_t gyro_counter; /**< Number of raw measurments taken */ float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */ - + int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */ - uint32_t accelerometer_counter; /**< Number of raw acc measurements taken */ float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */ int accelerometer_mode; /**< Accelerometer measurement mode */ float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */ + uint64_t accelerometer_timestamp; /**< Accelerometer timestamp */ int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */ float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */ int magnetometer_mode; /**< Magnetometer measurement mode */ float magnetometer_range_ga; /**< ± measurement range in Gauss */ float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */ - uint32_t magnetometer_counter; /**< Number of raw mag measurements taken */ - + uint64_t magnetometer_timestamp; /**< Magnetometer timestamp */ + float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */ float baro_alt_meter; /**< Altitude, already temp. comp. */ float baro_temp_celcius; /**< Temperature in degrees celsius */ - float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ + float adc_voltage_v[10]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ + unsigned adc_mapping[10]; /**< Channel indices of each of these values */ float mcu_temp_celcius; /**< Internal temperature measurement of MCU */ - uint32_t baro_counter; /**< Number of raw baro measurements taken */ + uint64_t baro_timestamp; /**< Barometer timestamp */ + + float differential_pressure_pa; /**< Airspeed sensor differential pressure */ + uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */ + float differential_pressure_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */ - float differential_pressure_pa; /**< Airspeed sensor differential pressure */ - uint32_t differential_pressure_counter; /**< Number of raw differential pressure measurements taken */ }; /** diff --git a/src/modules/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h index cfe0bf69e9..d3a7ce10d8 100644 --- a/src/modules/uORB/topics/subsystem_info.h +++ b/src/modules/uORB/topics/subsystem_info.h @@ -50,8 +50,7 @@ #include #include "../uORB.h" -enum SUBSYSTEM_TYPE -{ +enum SUBSYSTEM_TYPE { SUBSYSTEM_TYPE_GYRO = 1, SUBSYSTEM_TYPE_ACC = 2, SUBSYSTEM_TYPE_MAG = 4, diff --git a/src/modules/mavlink_onboard/util.h b/src/modules/uORB/topics/system_power.h similarity index 63% rename from src/modules/mavlink_onboard/util.h rename to src/modules/uORB/topics/system_power.h index c84b6fd26e..7763b60043 100644 --- a/src/modules/mavlink_onboard/util.h +++ b/src/modules/uORB/topics/system_power.h @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier + * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,23 +32,40 @@ ****************************************************************************/ /** - * @file util.h - * Utility and helper functions and data. + * @file system_power.h + * + * Definition of the system_power voltage and power status uORB topic. */ -#pragma once +#ifndef SYSTEM_POWER_H_ +#define SYSTEM_POWER_H_ -#include "orb_topics.h" - -/** MAVLink communications channel */ -extern uint8_t chan; - -/** Shutdown marker */ -extern volatile bool thread_should_exit; +#include "../uORB.h" +#include /** - * Translate the custom state into standard mavlink modes and state. + * @addtogroup topics + * @{ */ -extern void -get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed, - uint8_t *mavlink_state, uint8_t *mavlink_mode); + +/** + * voltage and power supply status + */ +struct system_power_s { + uint64_t timestamp; /**< microseconds since system boot */ + float voltage5V_v; /**< peripheral 5V rail voltage */ + uint8_t usb_connected:1; /**< USB is connected when 1 */ + uint8_t brick_valid:1; /**< brick power is good when 1 */ + uint8_t servo_valid:1; /**< servo power is good when 1 */ + uint8_t periph_5V_OC:1; /**< peripheral overcurrent when 1 */ + uint8_t hipower_5V_OC:1; /**< hi power peripheral overcurrent when 1 */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(system_power); + +#endif diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index 5192d4d589..76693c46ef 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -44,10 +44,10 @@ #include "../uORB.h" enum TELEMETRY_STATUS_RADIO_TYPE { - TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0, - TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO, - TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET, - TELEMETRY_STATUS_RADIO_TYPE_WIRE + TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0, + TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO, + TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET, + TELEMETRY_STATUS_RADIO_TYPE_WIRE }; /** @@ -57,14 +57,14 @@ enum TELEMETRY_STATUS_RADIO_TYPE { struct telemetry_status_s { uint64_t timestamp; - enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */ - uint8_t rssi; /**< local signal strength */ - uint8_t remote_rssi; /**< remote signal strength */ - uint16_t rxerrors; /**< receive errors */ - uint16_t fixed; /**< count of error corrected packets */ - uint8_t noise; /**< background noise level */ - uint8_t remote_noise; /**< remote background noise level */ - uint8_t txbuf; /**< how full the tx buffer is as a percentage */ + enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */ + uint8_t rssi; /**< local signal strength */ + uint8_t remote_rssi; /**< remote signal strength */ + uint16_t rxerrors; /**< receive errors */ + uint16_t fixed; /**< count of error corrected packets */ + uint8_t noise; /**< background noise level */ + uint8_t remote_noise; /**< remote background noise level */ + uint8_t txbuf; /**< how full the tx buffer is as a percentage */ }; /** diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h index e5a35ff9bc..40328af146 100755 --- a/src/modules/uORB/topics/vehicle_attitude.h +++ b/src/modules/uORB/topics/vehicle_attitude.h @@ -76,7 +76,7 @@ struct vehicle_attitude_s { float rate_offsets[3]; /**< Offsets of the body angular rates from zero */ float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ float q[4]; /**< Quaternion (NED) */ - float g_comp[3]; /**< Compensated gravity vector */ + float g_comp[3]; /**< Compensated gravity vector */ bool R_valid; /**< Rotation matrix valid */ bool q_valid; /**< Quaternion valid */ diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h index 7596f944f3..d526a8ff27 100644 --- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h +++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h @@ -52,8 +52,7 @@ /** * vehicle attitude setpoint. */ -struct vehicle_attitude_setpoint_s -{ +struct vehicle_attitude_setpoint_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ float roll_body; /**< body angle in NED frame */ diff --git a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h index fbfab09f30..fd1ade671a 100644 --- a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h +++ b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h @@ -48,8 +48,7 @@ * @{ */ -struct vehicle_bodyframe_speed_setpoint_s -{ +struct vehicle_bodyframe_speed_setpoint_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ float vx; /**< in m/s */ diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h index e6e4743c6a..c21a29b130 100644 --- a/src/modules/uORB/topics/vehicle_command.h +++ b/src/modules/uORB/topics/vehicle_command.h @@ -51,43 +51,42 @@ * Should contain all commands from MAVLink's VEHICLE_CMD ENUM, * but can contain additional ones. */ -enum VEHICLE_CMD -{ - VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ - VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ - VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ - VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ - VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ - VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ - VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ - VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ - VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ - VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */ - VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ - VEHICLE_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */ - VEHICLE_CMD_ENUM_END=501, /* | */ +enum VEHICLE_CMD { + VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_LOITER_TIME = 19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_NAV_LAND = 21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_DELAY = 112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_CHANGE_ALT = 113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ + VEHICLE_CMD_CONDITION_DISTANCE = 114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_YAW = 115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_LAST = 159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_MODE = 176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_JUMP = 177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_CHANGE_SPEED = 178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_HOME = 179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_DO_SET_PARAMETER = 180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_RELAY = 181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_REPEAT_RELAY = 182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_SERVO = 183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ + VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ + VEHICLE_CMD_PREFLIGHT_STORAGE = 245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ + VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ + VEHICLE_CMD_OVERRIDE_GOTO = 252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ + VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */ + VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ + VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */ + VEHICLE_CMD_ENUM_END = 501, /* | */ }; /** @@ -96,14 +95,13 @@ enum VEHICLE_CMD * Should contain all of MAVLink's VEHICLE_CMD_RESULT values * but can contain additional ones. */ -enum VEHICLE_CMD_RESULT -{ - VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */ - VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */ - VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */ - VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */ - VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */ - VEHICLE_CMD_RESULT_ENUM_END=5, /* | */ +enum VEHICLE_CMD_RESULT { + VEHICLE_CMD_RESULT_ACCEPTED = 0, /* Command ACCEPTED and EXECUTED | */ + VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1, /* Command TEMPORARY REJECTED/DENIED | */ + VEHICLE_CMD_RESULT_DENIED = 2, /* Command PERMANENTLY DENIED | */ + VEHICLE_CMD_RESULT_UNSUPPORTED = 3, /* Command UNKNOWN/UNSUPPORTED | */ + VEHICLE_CMD_RESULT_FAILED = 4, /* Command executed, but failed | */ + VEHICLE_CMD_RESULT_ENUM_END = 5, /* | */ }; /** @@ -111,8 +109,7 @@ enum VEHICLE_CMD_RESULT * @{ */ -struct vehicle_command_s -{ +struct vehicle_command_s { float param1; /**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum. */ float param2; /**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum. */ float param3; /**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum. */ diff --git a/src/modules/uORB/topics/vehicle_control_debug.h b/src/modules/uORB/topics/vehicle_control_debug.h index 6184284a43..2a45eaccc2 100644 --- a/src/modules/uORB/topics/vehicle_control_debug.h +++ b/src/modules/uORB/topics/vehicle_control_debug.h @@ -47,8 +47,7 @@ * @addtogroup topics * @{ */ -struct vehicle_control_debug_s -{ +struct vehicle_control_debug_s { uint64_t timestamp; /**< in microseconds since system start */ float roll_p; /**< roll P control part */ @@ -77,9 +76,9 @@ struct vehicle_control_debug_s }; /**< vehicle_control_debug */ - /** - * @} - */ +/** +* @} +*/ /* register this as object request broker structure */ ORB_DECLARE(vehicle_control_debug); diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 7cbb37cd8e..ea554006fd 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -1,10 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * @author Petri Tanskanen - * @author Thomas Gubler - * @author Julian Oes + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -38,8 +34,13 @@ /** * @file vehicle_control_mode.h * Definition of the vehicle_control_mode uORB topic. - * + * * All control apps should depend their actions based on the flags set here. + * + * @author Lorenz Meier + * @author Petri Tanskanen + * @author Thomas Gubler + * @author Julian Oes */ #ifndef VEHICLE_CONTROL_MODE @@ -61,8 +62,7 @@ * Encodes the complete system state and is set by the commander app. */ -struct vehicle_control_mode_s -{ +struct vehicle_control_mode_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ bool flag_armed; diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index ff9e98e1c4..4897ca7371 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Julian Oes - * @author Lorenz Meier + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +34,10 @@ /** * @file vehicle_global_position.h * Definition of the global fused WGS84 position uORB topic. + * + * @author Thomas Gubler + * @author Julian Oes + * @author Lorenz Meier */ #ifndef VEHICLE_GLOBAL_POSITION_T_H_ @@ -59,13 +60,9 @@ * estimator, which will take more sources of information into account than just GPS, * e.g. control inputs of the vehicle in a Kalman-filter implementation. */ -struct vehicle_global_position_s -{ +struct vehicle_global_position_s { uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ - bool global_valid; /**< true if position satisfies validity criteria of estimator */ - bool baro_valid; /**< true if baro_alt is valid (vel_d is also valid in this case) */ - uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ double lat; /**< Latitude in degrees */ double lon; /**< Longitude in degrees */ @@ -74,8 +71,8 @@ struct vehicle_global_position_s float vel_e; /**< Ground east velocity, m/s */ float vel_d; /**< Ground downside velocity, m/s */ float yaw; /**< Yaw in radians -PI..+PI. */ - - float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */ + float eph; + float epv; }; /** diff --git a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h index 73961cdfed..5dac877d08 100644 --- a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h +++ b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h @@ -47,8 +47,7 @@ * @{ */ -struct vehicle_global_velocity_setpoint_s -{ +struct vehicle_global_velocity_setpoint_s { float vx; /**< in m/s NED */ float vy; /**< in m/s NED */ float vz; /**< in m/s NED */ diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index 1639a08c2b..794c3f8bc7 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -53,13 +53,12 @@ /** * GPS position in WGS84 coordinates. */ -struct vehicle_gps_position_s -{ +struct vehicle_gps_position_s { uint64_t timestamp_position; /**< Timestamp for position information */ int32_t lat; /**< Latitude in 1E-7 degrees */ int32_t lon; /**< Longitude in 1E-7 degrees */ int32_t alt; /**< Altitude in 1E-3 meters (millimeters) above MSL */ - + uint64_t timestamp_variance; float s_variance_m_s; /**< speed accuracy estimate m/s */ float p_variance_m; /**< position accuracy estimate m */ diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index d567f2e020..a15303ea48 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -1,7 +1,6 @@ /**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +34,9 @@ /** * @file vehicle_local_position.h * Definition of the local fused NED position uORB topic. + * + * @author Lorenz Meier + * @author Anton Babushkin */ #ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_ @@ -52,8 +54,7 @@ /** * Fused local position in NED. */ -struct vehicle_local_position_s -{ +struct vehicle_local_position_s { uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ bool xy_valid; /**< true if x and y are valid */ bool z_valid; /**< true if z is valid */ @@ -73,8 +74,8 @@ struct vehicle_local_position_s bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */ bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */ uint64_t ref_timestamp; /**< Time when reference position was set */ - int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */ - int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */ + double ref_lat; /**< Reference point latitude in degrees */ + double ref_lon; /**< Reference point longitude in degrees */ float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */ bool landed; /**< true if vehicle is landed */ /* Distance to surface */ diff --git a/src/modules/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h index d24d81e3a4..8988a0330d 100644 --- a/src/modules/uORB/topics/vehicle_local_position_setpoint.h +++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h @@ -49,8 +49,7 @@ * @{ */ -struct vehicle_local_position_setpoint_s -{ +struct vehicle_local_position_setpoint_s { float x; /**< in meters NED */ float y; /**< in meters NED */ float z; /**< in meters NED */ diff --git a/src/modules/uORB/topics/vehicle_rates_setpoint.h b/src/modules/uORB/topics/vehicle_rates_setpoint.h index 46e62c4b71..9f8b412a7d 100644 --- a/src/modules/uORB/topics/vehicle_rates_setpoint.h +++ b/src/modules/uORB/topics/vehicle_rates_setpoint.h @@ -47,8 +47,7 @@ * @addtogroup topics * @{ */ -struct vehicle_rates_setpoint_s -{ +struct vehicle_rates_setpoint_s { uint64_t timestamp; /**< in microseconds since system start */ float roll; /**< body angular rates in NED frame */ @@ -58,9 +57,9 @@ struct vehicle_rates_setpoint_s }; /**< vehicle_rates_setpoint */ - /** - * @} - */ +/** +* @} +*/ /* register this as object request broker structure */ ORB_DECLARE(vehicle_rates_setpoint); diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index acf07da4bf..ea20a317a6 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -63,13 +63,15 @@ /* main state machine */ typedef enum { MAIN_STATE_MANUAL = 0, - MAIN_STATE_ACRO, - MAIN_STATE_SEATBELT, - MAIN_STATE_EASY, + MAIN_STATE_ALTCTL, + MAIN_STATE_POSCTL, MAIN_STATE_AUTO, + MAIN_STATE_ACRO, MAIN_STATE_MAX } main_state_t; +// If you change the order, add or remove arming_state_t states make sure to update the arrays +// in state_machine_helper.cpp as well. typedef enum { ARMING_STATE_INIT = 0, ARMING_STATE_STANDBY, @@ -94,35 +96,6 @@ typedef enum { FAILSAFE_STATE_MAX } failsafe_state_t; -typedef enum { - MODE_SWITCH_MANUAL = 0, - MODE_SWITCH_ASSISTED, - MODE_SWITCH_AUTO -} mode_switch_pos_t; - -typedef enum { - ASSISTED_SWITCH_SEATBELT = 0, - ASSISTED_SWITCH_EASY -} assisted_switch_pos_t; - -typedef enum { - RETURN_SWITCH_NONE = 0, - RETURN_SWITCH_NORMAL, - RETURN_SWITCH_RETURN -} return_switch_pos_t; - -typedef enum { - MISSION_SWITCH_NONE = 0, - MISSION_SWITCH_LOITER, - MISSION_SWITCH_MISSION -} mission_switch_pos_t; - -typedef enum { - ACRO_SWITCH_NONE = 0, - ACRO_SWITCH_NORMAL, - ACRO_SWITCH_ACRO -} acro_switch_pos_t; - enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, @@ -138,31 +111,31 @@ enum VEHICLE_MODE_FLAG { * Should match 1:1 MAVLink's MAV_TYPE ENUM */ enum VEHICLE_TYPE { - VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */ - VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */ - VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */ - VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */ - VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */ - VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */ - VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */ - VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */ - VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */ - VEHICLE_TYPE_ROCKET=9, /* Rocket | */ - VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */ - VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */ - VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */ - VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */ - VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */ - VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */ - VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */ - VEHICLE_TYPE_KITE=17, /* Kite | */ - VEHICLE_TYPE_ENUM_END=18, /* | */ + VEHICLE_TYPE_GENERIC = 0, /* Generic micro air vehicle. | */ + VEHICLE_TYPE_FIXED_WING = 1, /* Fixed wing aircraft. | */ + VEHICLE_TYPE_QUADROTOR = 2, /* Quadrotor | */ + VEHICLE_TYPE_COAXIAL = 3, /* Coaxial helicopter | */ + VEHICLE_TYPE_HELICOPTER = 4, /* Normal helicopter with tail rotor. | */ + VEHICLE_TYPE_ANTENNA_TRACKER = 5, /* Ground installation | */ + VEHICLE_TYPE_GCS = 6, /* Operator control unit / ground control station | */ + VEHICLE_TYPE_AIRSHIP = 7, /* Airship, controlled | */ + VEHICLE_TYPE_FREE_BALLOON = 8, /* Free balloon, uncontrolled | */ + VEHICLE_TYPE_ROCKET = 9, /* Rocket | */ + VEHICLE_TYPE_GROUND_ROVER = 10, /* Ground rover | */ + VEHICLE_TYPE_SURFACE_BOAT = 11, /* Surface vessel, boat, ship | */ + VEHICLE_TYPE_SUBMARINE = 12, /* Submarine | */ + VEHICLE_TYPE_HEXAROTOR = 13, /* Hexarotor | */ + VEHICLE_TYPE_OCTOROTOR = 14, /* Octorotor | */ + VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */ + VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */ + VEHICLE_TYPE_KITE = 17, /* Kite | */ + VEHICLE_TYPE_ENUM_END = 18, /* | */ }; enum VEHICLE_BATTERY_WARNING { - VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ - VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */ - VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */ + VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ + VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */ + VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */ }; /** @@ -175,8 +148,7 @@ enum VEHICLE_BATTERY_WARNING { * * Encodes the complete system state and is set by the commander app. */ -struct vehicle_status_s -{ +struct vehicle_status_s { /* use of a counter and timestamp recommended (but not necessary) */ uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ @@ -195,12 +167,6 @@ struct vehicle_status_s bool is_rotary_wing; - mode_switch_pos_t mode_switch; - return_switch_pos_t return_switch; - assisted_switch_pos_t assisted_switch; - mission_switch_pos_t mission_switch; - acro_switch_pos_t acro_switch; - bool condition_battery_voltage_valid; bool condition_system_in_air_restore; /**< true if we can restore in mid air */ bool condition_system_sensors_initialized; @@ -227,7 +193,7 @@ struct vehicle_status_s uint32_t onboard_control_sensors_present; uint32_t onboard_control_sensors_enabled; uint32_t onboard_control_sensors_health; - + float load; /**< processor load from 0 to 1 */ float battery_voltage; float battery_current; diff --git a/src/modules/uORB/topics/vehicle_vicon_position.h b/src/modules/uORB/topics/vehicle_vicon_position.h index 0822fa89a1..e19a34a5d7 100644 --- a/src/modules/uORB/topics/vehicle_vicon_position.h +++ b/src/modules/uORB/topics/vehicle_vicon_position.h @@ -52,8 +52,7 @@ /** * Fused local position in NED. */ -struct vehicle_vicon_position_s -{ +struct vehicle_vicon_position_s { uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ bool valid; /**< true if position satisfies validity criteria of estimator */ diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp index 64ee544a27..02d1af4818 100644 --- a/src/modules/unit_test/unit_test.cpp +++ b/src/modules/unit_test/unit_test.cpp @@ -32,17 +32,10 @@ * ****************************************************************************/ -/** - * @file unit_test.cpp - * A unit test library. - * - */ - #include "unit_test.h" #include - UnitTest::UnitTest() { } @@ -51,15 +44,15 @@ UnitTest::~UnitTest() { } -void -UnitTest::print_results(const char* result) +void UnitTest::printResults(void) { - if (result != 0) { - warnx("Failed: %s:%d", mu_last_test(), mu_line()); - warnx("%s", result); - } else { - warnx("ALL TESTS PASSED"); - warnx(" Tests run : %d", mu_tests_run()); - warnx(" Assertion : %d", mu_assertion()); - } + warnx(mu_tests_failed() ? "SOME TESTS FAILED" : "ALL TESTS PASSED"); + warnx(" Tests passed : %d", mu_tests_passed()); + warnx(" Tests failed : %d", mu_tests_failed()); + warnx(" Assertions : %d", mu_assertion()); +} + +void UnitTest::printAssert(const char* msg, const char* test, const char* file, int line) +{ + warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line); } diff --git a/src/modules/unit_test/unit_test.h b/src/modules/unit_test/unit_test.h index 3020734f4b..32eb8c308c 100644 --- a/src/modules/unit_test/unit_test.h +++ b/src/modules/unit_test/unit_test.h @@ -32,62 +32,55 @@ * ****************************************************************************/ -/** - * @file unit_test.h - * A unit test library based on MinUnit (http://www.jera.com/techinfo/jtns/jtn002.html). - * - */ - #ifndef UNIT_TEST_H_ -#define UNIT_TEST_ +#define UNIT_TEST_H_ #include - class __EXPORT UnitTest { public: -#define xstr(s) str(s) -#define str(s) #s #define INLINE_GLOBAL(type,func) inline type& func() { static type x; return x; } INLINE_GLOBAL(int, mu_tests_run) +INLINE_GLOBAL(int, mu_tests_failed) +INLINE_GLOBAL(int, mu_tests_passed) INLINE_GLOBAL(int, mu_assertion) INLINE_GLOBAL(int, mu_line) INLINE_GLOBAL(const char*, mu_last_test) -#define mu_assert(message, test) \ - do \ - { \ - if (!(test)) \ - return __FILE__ ":" xstr(__LINE__) " " message " (" #test ")"; \ - else \ - mu_assertion()++; \ - } while (0) - - -#define mu_run_test(test) \ -do \ -{ \ - const char *message; \ - mu_last_test() = #test; \ - mu_line() = __LINE__; \ - message = test(); \ - mu_tests_run()++; \ - if (message) \ - return message; \ -} while (0) - - -public: UnitTest(); virtual ~UnitTest(); - virtual const char* run_tests() = 0; - virtual void print_results(const char* result); + virtual void runTests(void) = 0; + void printResults(void); + + void printAssert(const char* msg, const char* test, const char* file, int line); + +#define ut_assert(message, test) \ + do { \ + if (!(test)) { \ + printAssert(message, #test, __FILE__, __LINE__); \ + return false; \ + } else { \ + mu_assertion()++; \ + } \ + } while (0) + +#define ut_run_test(test) \ + do { \ + warnx("RUNNING TEST: %s", #test); \ + mu_tests_run()++; \ + if (!test()) { \ + warnx("TEST FAILED: %s", #test); \ + mu_tests_failed()++; \ + } else { \ + warnx("TEST PASSED: %s", #test); \ + mu_tests_passed()++; \ + } \ + } while (0) + }; - - #endif /* UNIT_TEST_H_ */ diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c index 476015f3e3..e6d4b763be 100644 --- a/src/systemcmds/config/config.c +++ b/src/systemcmds/config/config.c @@ -121,7 +121,7 @@ do_device(int argc, char *argv[]) errx(ret,"uORB publications could not be unblocked"); } else { - errx("no valid command: %s", argv[1]); + errx(1, "no valid command: %s", argv[1]); } } diff --git a/src/modules/mavlink_onboard/mavlink_bridge_header.h b/src/systemcmds/dumpfile/dumpfile.c similarity index 52% rename from src/modules/mavlink_onboard/mavlink_bridge_header.h rename to src/systemcmds/dumpfile/dumpfile.c index b72bbb2b19..c188143429 100644 --- a/src/modules/mavlink_onboard/mavlink_bridge_header.h +++ b/src/systemcmds/dumpfile/dumpfile.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier + * Copyright (c) 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,51 +32,85 @@ ****************************************************************************/ /** - * @file mavlink_bridge_header - * MAVLink bridge header for UART access. + * @file dumpfile.c * - * @author Lorenz Meier + * Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout. + * + * @author Anton Babushkin */ -/* MAVLink adapter header */ -#ifndef MAVLINK_BRIDGE_HEADER_H -#define MAVLINK_BRIDGE_HEADER_H - -#define MAVLINK_USE_CONVENIENCE_FUNCTIONS - -/* use efficient approach, see mavlink_helpers.h */ -#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes - -#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer -#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status - -#include +#include #include +#include +#include +#include +#include +#include +#include -/* Struct that stores the communication settings of this system. - you can also define / alter these settings elsewhere, as long - as they're included BEFORE mavlink.h. - So you can set the +__EXPORT int dumpfile_main(int argc, char *argv[]); - mavlink_system.sysid = 100; // System ID, 1-255 - mavlink_system.compid = 50; // Component/Subsystem ID, 1-255 +int +dumpfile_main(int argc, char *argv[]) +{ + if (argc < 2) { + errx(1, "usage: dumpfile "); + } - Lines also in your main.c, e.g. by reading these parameter from EEPROM. - */ -extern mavlink_system_t mavlink_system; + /* open input file */ + FILE *f; + f = fopen(argv[1], "r"); -/** - * @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 - */ -extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length); + if (f == NULL) { + printf("ERROR\n"); + exit(1); + } -mavlink_status_t* mavlink_get_channel_status(uint8_t chan); -mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan); + /* get file size */ + fseek(f, 0L, SEEK_END); + int size = ftell(f); + fseek(f, 0L, SEEK_SET); -#include + printf("OK %d\n", size); -#endif /* MAVLINK_BRIDGE_HEADER_H */ + /* configure stdout */ + int out = fileno(stdout); + + struct termios tc; + struct termios tc_old; + tcgetattr(out, &tc); + + /* save old terminal attributes to restore it later on exit */ + memcpy(&tc_old, &tc, sizeof(tc)); + + /* don't add CR on each LF*/ + tc.c_oflag &= ~ONLCR; + + if (tcsetattr(out, TCSANOW, &tc) < 0) { + warnx("ERROR setting stdout attributes"); + exit(1); + } + + char buf[512]; + int nread; + + /* dump file */ + while ((nread = fread(buf, 1, sizeof(buf), f)) > 0) { + if (write(out, buf, nread) <= 0) { + warnx("error dumping file"); + break; + } + } + + fsync(out); + fclose(f); + + /* restore old terminal attributes */ + if (tcsetattr(out, TCSANOW, &tc_old) < 0) { + warnx("ERROR restoring stdout attributes"); + exit(1); + } + + return OK; +} diff --git a/src/systemcmds/hw_ver/module.mk b/src/systemcmds/dumpfile/module.mk similarity index 94% rename from src/systemcmds/hw_ver/module.mk rename to src/systemcmds/dumpfile/module.mk index 3cc08b6a1a..36461f4772 100644 --- a/src/systemcmds/hw_ver/module.mk +++ b/src/systemcmds/dumpfile/module.mk @@ -32,12 +32,10 @@ ############################################################################ # -# Show and test hardware version +# Dump file utility # -MODULE_COMMAND = hw_ver -SRCS = hw_ver.c - -MODULE_STACKSIZE = 1024 +MODULE_COMMAND = dumpfile +SRCS = dumpfile.c MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c index ad19966949..7d80af3079 100644 --- a/src/systemcmds/esc_calib/esc_calib.c +++ b/src/systemcmds/esc_calib/esc_calib.c @@ -182,7 +182,7 @@ esc_calib_main(int argc, char *argv[]) if (orb_updated) { errx(1, "ABORTING! Attitude control still active. Please ensure to shut down all controllers:\n" - "\tmultirotor_att_control stop\n" + "\tmc_att_control stop\n" "\tfw_att_control stop\n"); } diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c index e34be44e31..a3f9dfffff 100644 --- a/src/systemcmds/mtd/24xxxx_mtd.c +++ b/src/systemcmds/mtd/24xxxx_mtd.c @@ -142,12 +142,9 @@ struct at24c_dev_s { uint16_t pagesize; /* 32, 63 */ uint16_t npages; /* 128, 256, 512, 1024 */ - perf_counter_t perf_reads; - perf_counter_t perf_writes; - perf_counter_t perf_resets; - perf_counter_t perf_read_retries; - perf_counter_t perf_read_errors; - perf_counter_t perf_write_errors; + perf_counter_t perf_transfers; + perf_counter_t perf_resets_retries; + perf_counter_t perf_errors; }; /************************************************************************************ @@ -298,9 +295,9 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock, for (;;) { - perf_begin(priv->perf_reads); + perf_begin(priv->perf_transfers); ret = I2C_TRANSFER(priv->dev, &msgv[0], 2); - perf_end(priv->perf_reads); + perf_end(priv->perf_transfers); if (ret >= 0) break; @@ -314,10 +311,10 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock, * XXX maybe do special first-read handling with optional * bus reset as well? */ - perf_count(priv->perf_read_retries); + perf_count(priv->perf_resets_retries); if (--tries == 0) { - perf_count(priv->perf_read_errors); + perf_count(priv->perf_errors); return ERROR; } } @@ -383,9 +380,9 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t for (;;) { - perf_begin(priv->perf_writes); + perf_begin(priv->perf_transfers); ret = I2C_TRANSFER(priv->dev, &msgv[0], 1); - perf_end(priv->perf_writes); + perf_end(priv->perf_transfers); if (ret >= 0) break; @@ -397,7 +394,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t * poll for write completion. */ if (--tries == 0) { - perf_count(priv->perf_write_errors); + perf_count(priv->perf_errors); return ERROR; } } @@ -521,12 +518,9 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) { priv->mtd.ioctl = at24c_ioctl; priv->dev = dev; - priv->perf_reads = perf_alloc(PC_ELAPSED, "EEPROM read"); - priv->perf_writes = perf_alloc(PC_ELAPSED, "EEPROM write"); - priv->perf_resets = perf_alloc(PC_COUNT, "EEPROM reset"); - priv->perf_read_retries = perf_alloc(PC_COUNT, "EEPROM read retries"); - priv->perf_read_errors = perf_alloc(PC_COUNT, "EEPROM read errors"); - priv->perf_write_errors = perf_alloc(PC_COUNT, "EEPROM write errors"); + priv->perf_transfers = perf_alloc(PC_ELAPSED, "eeprom_trans"); + priv->perf_resets_retries = perf_alloc(PC_COUNT, "eeprom_rst"); + priv->perf_errors = perf_alloc(PC_COUNT, "eeprom_errs"); } /* attempt to read to validate device is present */ @@ -548,9 +542,9 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) { } }; - perf_begin(priv->perf_reads); + perf_begin(priv->perf_transfers); int ret = I2C_TRANSFER(priv->dev, &msgv[0], 2); - perf_end(priv->perf_reads); + perf_end(priv->perf_transfers); if (ret < 0) { return NULL; diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c index 0a88d40f39..a57eaafe71 100644 --- a/src/systemcmds/mtd/mtd.c +++ b/src/systemcmds/mtd/mtd.c @@ -160,7 +160,11 @@ static void ramtron_attach(void) { /* find the right spi */ +#ifdef CONFIG_ARCH_BOARD_AEROCORE + struct spi_dev_s *spi = up_spiinitialize(4); +#else struct spi_dev_s *spi = up_spiinitialize(2); +#endif /* this resets the spi bus, set correct bus speed again */ SPI_SETFREQUENCY(spi, 10 * 1000 * 1000); SPI_SETBITS(spi, 8); diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk index a485885354..b22b446dae 100644 --- a/src/systemcmds/nshterm/module.mk +++ b/src/systemcmds/nshterm/module.mk @@ -38,4 +38,4 @@ MODULE_COMMAND = nshterm SRCS = nshterm.c -MODULE_STACKSIZE = 3000 +MODULE_STACKSIZE = 1200 diff --git a/src/systemcmds/param/module.mk b/src/systemcmds/param/module.mk index 63f15ad286..f716eb71e9 100644 --- a/src/systemcmds/param/module.mk +++ b/src/systemcmds/param/module.mk @@ -38,7 +38,8 @@ MODULE_COMMAND = param SRCS = param.c -MODULE_STACKSIZE = 4096 +# Note: measurements yielded a max of 900 bytes used. +MODULE_STACKSIZE = 1800 MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c index 0cbba0a374..d92ee88efe 100644 --- a/src/systemcmds/param/param.c +++ b/src/systemcmds/param/param.c @@ -61,8 +61,9 @@ static void do_load(const char* param_file_name); static void do_import(const char* param_file_name); static void do_show(const char* search_string); static void do_show_print(void *arg, param_t param); -static void do_set(const char* name, const char* val); +static void do_set(const char* name, const char* val, bool fail_on_not_found); static void do_compare(const char* name, const char* vals[], unsigned comparisons); +static void do_reset(); int param_main(int argc, char *argv[]) @@ -116,10 +117,17 @@ param_main(int argc, char *argv[]) } if (!strcmp(argv[1], "set")) { - if (argc >= 4) { - do_set(argv[2], argv[3]); + if (argc >= 5) { + + /* if the fail switch is provided, fails the command if not found */ + bool fail = !strcmp(argv[4], "fail"); + + do_set(argv[2], argv[3], fail); + + } else if (argc >= 4) { + do_set(argv[2], argv[3], false); } else { - errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'"); + errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3 [fail]'"); } } @@ -130,6 +138,10 @@ param_main(int argc, char *argv[]) errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'"); } } + + if (!strcmp(argv[1], "reset")) { + do_reset(); + } } errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'"); @@ -277,7 +289,7 @@ do_show_print(void *arg, param_t param) } static void -do_set(const char* name, const char* val) +do_set(const char* name, const char* val, bool fail_on_not_found) { int32_t i; float f; @@ -285,8 +297,8 @@ do_set(const char* name, const char* val) /* set nothing if parameter cannot be found */ if (param == PARAM_INVALID) { - /* param not found */ - errx(1, "Error: Parameter %s not found.", name); + /* param not found - fail silenty in scripts as it prevents booting */ + errx(((fail_on_not_found) ? 1 : 0), "Error: Parameter %s not found.", name); } printf("%c %s: ", @@ -402,3 +414,16 @@ do_compare(const char* name, const char* vals[], unsigned comparisons) exit(ret); } + +static void +do_reset() +{ + param_reset_all(); + + if (param_save_default()) { + warnx("Param export failed."); + exit(1); + } else { + exit(0); + } +} diff --git a/src/systemcmds/perf/module.mk b/src/systemcmds/perf/module.mk index 77952842b3..ec39a7a85e 100644 --- a/src/systemcmds/perf/module.mk +++ b/src/systemcmds/perf/module.mk @@ -39,3 +39,5 @@ MODULE_COMMAND = perf SRCS = perf.c MAXOPTIMIZATION = -Os + +MODULE_STACKSIZE = 1800 diff --git a/src/systemcmds/preflight_check/module.mk b/src/systemcmds/preflight_check/module.mk index 7c3c887836..0cb2a4cd09 100644 --- a/src/systemcmds/preflight_check/module.mk +++ b/src/systemcmds/preflight_check/module.mk @@ -40,3 +40,5 @@ MODULE_COMMAND = preflight_check SRCS = preflight_check.c MAXOPTIMIZATION = -Os + +MODULE_STACKSIZE = 1800 diff --git a/src/systemcmds/pwm/module.mk b/src/systemcmds/pwm/module.mk index 4a23bba90e..13a24150f2 100644 --- a/src/systemcmds/pwm/module.mk +++ b/src/systemcmds/pwm/module.mk @@ -38,4 +38,4 @@ MODULE_COMMAND = pwm SRCS = pwm.c -MODULE_STACKSIZE = 4096 +MODULE_STACKSIZE = 1800 diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index 7c23f38c20..1828c660f8 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -443,6 +443,110 @@ pwm_main(int argc, char *argv[]) exit(0); } } + usleep(2000); + } + exit(0); + + + } else if (!strcmp(argv[1], "steps")) { + + if (set_mask == 0) { + usage("no channels set"); + } + + /* get current servo values */ + struct pwm_output_values last_spos; + + for (unsigned i = 0; i < servo_count; i++) { + + ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]); + if (ret != OK) + err(1, "PWM_SERVO_GET(%d)", i); + } + + /* perform PWM output */ + + /* Open console directly to grab CTRL-C signal */ + struct pollfd fds; + fds.fd = 0; /* stdin */ + fds.events = POLLIN; + + warnx("Running 5 steps. WARNING! Motors will be live in 5 seconds\nPress any key to abort now."); + sleep(5); + + unsigned off = 900; + unsigned idle = 1300; + unsigned full = 2000; + unsigned steps_timings_us[] = {2000, 5000, 20000, 50000}; + + unsigned phase = 0; + unsigned phase_counter = 0; + unsigned const phase_maxcount = 20; + + for ( unsigned steps_timing_index = 0; + steps_timing_index < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]); + steps_timing_index++ ) { + + warnx("Sending step input with 0 to 100%% over a %u microseconds ramp", steps_timings_us[steps_timing_index]); + + while (1) { + for (unsigned i = 0; i < servo_count; i++) { + if (set_mask & 1< 0) { + + int ret = read(0, &c, 1); + if (ret > 0) { + /* reset output to the last value */ + for (unsigned i = 0; i < servo_count; i++) { + if (set_mask & 1< phase_maxcount) { + phase++; + phase_counter = 0; + } + } } exit(0); diff --git a/src/systemcmds/reboot/module.mk b/src/systemcmds/reboot/module.mk index 19f64af54f..edf9d8b376 100644 --- a/src/systemcmds/reboot/module.mk +++ b/src/systemcmds/reboot/module.mk @@ -39,3 +39,5 @@ MODULE_COMMAND = reboot SRCS = reboot.c MAXOPTIMIZATION = -Os + +MODULE_STACKSIZE = 800 diff --git a/src/systemcmds/tests/test_adc.c b/src/systemcmds/tests/test_adc.c index 030ac6e23c..03391b8514 100644 --- a/src/systemcmds/tests/test_adc.c +++ b/src/systemcmds/tests/test_adc.c @@ -66,8 +66,8 @@ int test_adc(int argc, char *argv[]) } for (unsigned i = 0; i < 5; i++) { - /* make space for a maximum of eight channels */ - struct adc_msg_s data[8]; + /* make space for a maximum of twelve channels */ + struct adc_msg_s data[12]; /* read all channels available */ ssize_t count = read(fd, data, sizeof(data)); diff --git a/src/systemcmds/top/module.mk b/src/systemcmds/top/module.mk index 9239aafc31..548a09f856 100644 --- a/src/systemcmds/top/module.mk +++ b/src/systemcmds/top/module.mk @@ -38,7 +38,7 @@ MODULE_COMMAND = top SRCS = top.c -MODULE_STACKSIZE = 3000 +MODULE_STACKSIZE = 1700 MAXOPTIMIZATION = -Os diff --git a/src/modules/mavlink_onboard/module.mk b/src/systemcmds/ver/module.mk similarity index 84% rename from src/modules/mavlink_onboard/module.mk rename to src/systemcmds/ver/module.mk index a7a4980faf..2eeb80b616 100644 --- a/src/modules/mavlink_onboard/module.mk +++ b/src/systemcmds/ver/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2014 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,11 +32,13 @@ ############################################################################ # -# MAVLink protocol to uORB interface process (XXX hack for onboard use) +# "version" nsh-command displays version infromation for hw,sw, gcc,build etc +# can be also included and used in own code via "ver.h" # -MODULE_COMMAND = mavlink_onboard -SRCS = mavlink.c \ - mavlink_receiver.c +MODULE_COMMAND = ver +SRCS = ver.c -INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink +MODULE_STACKSIZE = 1024 + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c new file mode 100644 index 0000000000..9ae080ee21 --- /dev/null +++ b/src/systemcmds/ver/ver.c @@ -0,0 +1,123 @@ +/**************************************************************************** +* +* Copyright (c) 2014 PX4 Development Team. All rights reserved. +* +* 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 ver.c +* +* Version command, unifies way of showing versions of HW, SW, Build, GCC +* In case you want to add new version just extend version_main function +* +* @author Vladimir Kulla +*/ + +#include +#include +#include +#include + +// string constants for version commands +static const char sz_ver_hw_str[] = "hw"; +static const char sz_ver_hwcmp_str[] = "hwcmp"; +static const char sz_ver_git_str[] = "git"; +static const char sz_ver_bdate_str[] = "bdate"; +static const char sz_ver_gcc_str[] = "gcc"; +static const char sz_ver_all_str[] = "all"; + +static void usage(const char *reason) +{ + if (reason != NULL) { + printf("%s\n", reason); + } + + printf("usage: ver {hw|hwcmp|git|bdate|gcc|all}\n\n"); +} + +__EXPORT int ver_main(int argc, char *argv[]); + +int ver_main(int argc, char *argv[]) +{ + int ret = 1; //defaults to an error + + // first check if there are at least 2 params + if (argc >= 2) { + if (argv[1] != NULL) { + if (!strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) { + printf("%s\n", HW_ARCH); + ret = 0; + + } else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) { + if (argc >= 3 && argv[2] != NULL) { + // compare 3rd parameter with HW_ARCH string, in case of match, return 0 + ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH)); + + if (ret == 0) { + printf("ver hwcmp match: %s\n", HW_ARCH); + } + + } else { + errx(1, "Not enough arguments, try 'ver hwcmp PX4FMU_V2'"); + } + + } else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) { + printf("%s\n", FW_GIT); + ret = 0; + + } else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) { + printf("%s %s\n", __DATE__, __TIME__); + ret = 0; + + } else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) { + printf("%s\n", __VERSION__); + ret = 0; + + } else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) { + printf("HW arch: %s\n", HW_ARCH); + printf("Build datetime: %s %s\n", __DATE__, __TIME__); + printf("FW git-hash: %s\n", FW_GIT); + printf("GCC toolchain: %s\n", __VERSION__); + ret = 0; + + } else { + errx(1, "unknown command.\n"); + } + + } else { + usage("Error, input parameter NULL.\n"); + } + + } else { + usage("Error, not enough parameters."); + } + + return ret; +}