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add parsing of external attitude message

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This commit is contained in:
Thomas Gubler
2014-07-15 10:34:56 +02:00
parent 7a06417411
commit d0cca02e97
3 changed files with 93 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+86 -2
View File
@@ -157,6 +157,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_local_ned_position_setpoint_external(msg);
break;
case MAVLINK_MSG_ID_ATTITUDE_SETPOINT_EXTERNAL:
handle_message_attitude_setpoint_external(msg);
break;
case MAVLINK_MSG_ID_RADIO_STATUS:
handle_message_radio_status(msg);
break;
@@ -404,7 +408,7 @@ MavlinkReceiver::handle_message_local_ned_position_setpoint_external(mavlink_mes
mavlink_msg_local_ned_position_setpoint_external_decode(msg, &local_ned_position_setpoint_external);
struct offboard_control_setpoint_s offboard_control_sp;
memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));
memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));//XXX breaks compatibility with multiple setpoints
if (mavlink_system.sysid == local_ned_position_setpoint_external.target_system &&
mavlink_system.compid == local_ned_position_setpoint_external.target_component) {
@@ -438,7 +442,7 @@ MavlinkReceiver::handle_message_local_ned_position_setpoint_external(mavlink_mes
offboard_control_sp.acceleration[2] = local_ned_position_setpoint_external.afz;
offboard_control_sp.isForceSetpoint = (bool)(local_ned_position_setpoint_external.type_mask & (1 << 9));
for (int i = 0; i < 9; i++) {
offboard_control_sp.ignore &= ~(local_ned_position_setpoint_external.type_mask & (1 << i));
offboard_control_sp.ignore &= ~(1 << i);
offboard_control_sp.ignore |= (local_ned_position_setpoint_external.type_mask & (1 << i));
}
@@ -469,6 +473,86 @@ MavlinkReceiver::handle_message_local_ned_position_setpoint_external(mavlink_mes
}
}
void
MavlinkReceiver::handle_message_attitude_setpoint_external(mavlink_message_t *msg)
{
mavlink_attitude_setpoint_external_t attitude_setpoint_external;
mavlink_msg_attitude_setpoint_external_decode(msg, &attitude_setpoint_external);
struct offboard_control_setpoint_s offboard_control_sp;
memset(&offboard_control_sp, 0, sizeof(offboard_control_sp)); //XXX breaks compatibility with multiple setpoints
if (mavlink_system.sysid == attitude_setpoint_external.target_system &&
mavlink_system.compid == attitude_setpoint_external.target_component) {
for (int i = 0; i < 4; i++) {
offboard_control_sp.attitude[i] = attitude_setpoint_external.q[i];
}
offboard_control_sp.attitude_rate[0] = attitude_setpoint_external.body_roll_rate;
offboard_control_sp.attitude_rate[1] = attitude_setpoint_external.body_pitch_rate;
offboard_control_sp.attitude_rate[2] = attitude_setpoint_external.body_yaw_rate;
for (int i = 0; i < 3; i++) {
offboard_control_sp.ignore &= ~(1 << (i + 9));
offboard_control_sp.ignore |= (attitude_setpoint_external.type_mask & (1 << i)) << 9;
}
offboard_control_sp.ignore &= ~(1 << 10);
offboard_control_sp.ignore |= ((attitude_setpoint_external.type_mask & (1 << 7)) << 3);
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);
}
/* If we are in offboard control mode and offboard control loop through is enabled
* also publish the setpoint topic which is read by the controller */
if (_mavlink->get_forward_externalsp()) {
bool updated;
orb_check(_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
}
if (_control_mode.flag_control_offboard_enabled) {
/* Publish attitude setpoint if ignore bit is not set */
if (!(attitude_setpoint_external.type_mask & (1 << 7))) {
struct vehicle_attitude_setpoint_s att_sp;
mavlink_quaternion_to_euler(attitude_setpoint_external.q,
&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
att_sp.thrust = attitude_setpoint_external.thrust;
if (_att_sp_pub < 0) {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
} else {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp);
}
}
/* Publish attitude rate setpoint if ignore bit are not set */
///XXX add support for ignoring individual axes
if (!(attitude_setpoint_external.type_mask & (0b111))) {
struct vehicle_rates_setpoint_s rates_sp;
rates_sp.roll = attitude_setpoint_external.body_roll_rate;
rates_sp.pitch = attitude_setpoint_external.body_pitch_rate;
rates_sp.yaw = attitude_setpoint_external.body_yaw_rate;
rates_sp.thrust = attitude_setpoint_external.thrust;
if (_att_sp_pub < 0) {
_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
} else {
orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &rates_sp);
}
}
}
}
}
}
void
MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
{
src/modules/mavlink/mavlink_receiver.h
+1
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@@ -114,6 +114,7 @@ private:
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_local_ned_position_setpoint_external(mavlink_message_t *msg);
void handle_message_attitude_setpoint_external(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_heartbeat(mavlink_message_t *msg);
src/modules/uORB/topics/offboard_control_setpoint.h
+6
View File
@@ -88,6 +88,7 @@ struct offboard_control_setpoint_s {
float attitude_rate[3]; /**< body angular rates (x, y, z) */
uint16_t ignore; /**< if field i is set to true, pi should be ignored */
//XXX define constants for bit offsets
bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */
float override_mode_switch;
@@ -118,6 +119,11 @@ inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_s
return (bool)(offboard_control_sp.ignore & (1 << (9 + index)));
}
inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) {
return (bool)(offboard_control_sp.ignore & (1 << 10));
}
/* register this as object request broker structure */
ORB_DECLARE(offboard_control_setpoint);