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This commit is contained in:
Lorenz Meier
2014-07-15 22:07:03 +02:00
parent 79aa600d29 619433d369
commit e696ed5509
554 changed files with 17667 additions and 122452 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+116 -76
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@@ -79,7 +79,6 @@ __BEGIN_DECLS
#include "mavlink_bridge_header.h"
#include "mavlink_receiver.h"
#include "mavlink_main.h"
#include "util.h"
__END_DECLS
@@ -102,16 +101,28 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_cmd_pub(-1),
_flow_pub(-1),
_offboard_control_sp_pub(-1),
_local_pos_sp_pub(-1),
_global_vel_sp_pub(-1),
_att_sp_pub(-1),
_rates_sp_pub(-1),
_vicon_position_pub(-1),
_telemetry_status_pub(-1),
_rc_pub(-1),
_manual_pub(-1),
_telemetry_heartbeat_time(0),
_radio_status_available(false),
_control_mode_sub(-1),
_hil_frames(0),
_old_timestamp(0),
_hil_local_proj_inited(0),
_hil_local_alt0(0.0)
{
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
memset(&hil_local_pos, 0, sizeof(hil_local_pos));
memset(&_control_mode, 0, sizeof(_control_mode));
// make sure the FTP server is started
(void)MavlinkFTP::getServer();
}
MavlinkReceiver::~MavlinkReceiver()
@@ -150,6 +161,18 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_manual_control(msg);
break;
case MAVLINK_MSG_ID_HEARTBEAT:
handle_message_heartbeat(msg);
break;
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
handle_message_request_data_stream(msg);
break;
case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
MavlinkFTP::getServer()->handle_message(_mavlink, msg);
break;
default:
break;
}
@@ -342,53 +365,21 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
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);
mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t swarm_offboard_control;
mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &swarm_offboard_control);
if (mavlink_system.sysid < 4) {
/* Only accept system IDs from 1 to 4 */
if (mavlink_system.sysid >= 1 && 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;
/* Convert values * 1000 back */
offboard_control_sp.p1 = (float)swarm_offboard_control.roll[mavlink_system.sysid - 1] / 1000.0f;
offboard_control_sp.p2 = (float)swarm_offboard_control.pitch[mavlink_system.sysid - 1] / 1000.0f;
offboard_control_sp.p3 = (float)swarm_offboard_control.yaw[mavlink_system.sysid - 1] / 1000.0f;
offboard_control_sp.p4 = (float)swarm_offboard_control.thrust[mavlink_system.sysid - 1] / 1000.0f;
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<enum OFFBOARD_CONTROL_MODE>(ml_mode);
offboard_control_sp.mode = (enum OFFBOARD_CONTROL_MODE)swarm_offboard_control.mode;
offboard_control_sp.timestamp = hrt_absolute_time();
@@ -404,27 +395,34 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
void
MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
{
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(msg, &rstatus);
/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(msg, &rstatus);
struct telemetry_status_s tstatus;
memset(&tstatus, 0, sizeof(tstatus));
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;
tstatus.timestamp = hrt_absolute_time();
tstatus.heartbeat_time = _telemetry_heartbeat_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);
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
} else {
orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
/* this means that heartbeats alone won't be published to the radio status no more */
_radio_status_available = true;
}
}
@@ -443,6 +441,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
if (_manual_pub < 0) {
_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
@@ -451,6 +451,57 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
{
/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(msg, &hb);
/* ignore own heartbeats, accept only heartbeats from GCS */
if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
_telemetry_heartbeat_time = hrt_absolute_time();
/* if no radio status messages arrive, lets at least publish that heartbeats were received */
if (!_radio_status_available) {
struct telemetry_status_s tstatus;
memset(&tstatus, 0, sizeof(tstatus));
tstatus.timestamp = _telemetry_heartbeat_time;
tstatus.heartbeat_time = _telemetry_heartbeat_time;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
}
}
}
}
void
MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
{
mavlink_request_data_stream_t req;
mavlink_msg_request_data_stream_decode(msg, &req);
if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid) {
float rate = req.start_stop ? (1000.0f / req.req_message_rate) : 0.0f;
MavlinkStream *stream;
LL_FOREACH(_mavlink->get_streams(), stream) {
if (req.req_stream_id == stream->get_id()) {
_mavlink->configure_stream_threadsafe(stream->get_name(), rate);
}
}
}
}
void
MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
{
@@ -667,12 +718,11 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
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.eph = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv = (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
@@ -682,9 +732,8 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
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;
hil_gps.satellites_used = gps.satellites_visible; //TODO: rename mavlink_hil_gps_t sats visible to used?
if (_gps_pub < 0) {
_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
@@ -902,16 +951,8 @@ MavlinkReceiver::receive_thread(void *arg)
/* handle generic messages and commands */
handle_message(&msg);
/* handle packet with waypoint component */
_mavlink->mavlink_wpm_message_handler(&msg);
/* handle packet with parameter component */
_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);
}
/* handle packet with parent object */
_mavlink->handle_message(&msg);
}
}
}
@@ -952,7 +993,6 @@ MavlinkReceiver::receive_start(Mavlink *parent)
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2900);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);