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Merge pull request #448 from PX4/mavlink_fix

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mavlink optimization
This commit is contained in:
Lorenz Meier 2013-10-13 03:13:18 -07:00
commit ec0b57076b
4 changed files with 126 additions and 62 deletions
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74
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -167,6 +167,7 @@ handle_message(mavlink_message_t *msg)
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
@ -437,9 +438,11 @@ handle_message(mavlink_message_t *msg)
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 */
@ -455,49 +458,72 @@ handle_message(mavlink_message_t *msg)
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);
}
@ -505,6 +531,7 @@ handle_message(mavlink_message_t *msg)
/* 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);
}
@ -517,6 +544,7 @@ handle_message(mavlink_message_t *msg)
/* 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);
}
@ -527,7 +555,7 @@ handle_message(mavlink_message_t *msg)
// output
if ((timestamp - old_timestamp) > 10000000) {
printf("receiving hil sensor at %d hz\n", hil_frames/10);
printf("receiving hil sensor at %d hz\n", hil_frames / 10);
old_timestamp = timestamp;
hil_frames = 0;
}
@ -552,9 +580,11 @@ handle_message(mavlink_message_t *msg)
/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
/* go back to -PI..PI */
if (heading_rad > M_PI_F)
heading_rad -= 2.0f * M_PI_F;
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
@ -567,6 +597,7 @@ handle_message(mavlink_message_t *msg)
/* 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);
}
@ -585,6 +616,7 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_airspeed < 0) {
pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
} else {
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
}
@ -602,6 +634,7 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_global_pos > 0) {
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
} else {
pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
}
@ -613,8 +646,8 @@ handle_message(mavlink_message_t *msg)
/* 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[i][j] = C_nb(i, j);
hil_attitude.R_valid = true;
/* set quaternion */
@ -636,22 +669,32 @@ handle_message(mavlink_message_t *msg)
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);
}
@ -664,6 +707,7 @@ handle_message(mavlink_message_t *msg)
/* 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);
}
@ -733,17 +777,23 @@ receive_thread(void *arg)
mavlink_message_t msg;
prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
prctl(PR_SET_NAME, "mavlink_uart_rcv", getpid());
struct pollfd fds[1];
fds[0].fd = uart_fd;
fds[0].events = POLLIN;
ssize_t nread = 0;
while (!thread_should_exit) {
struct pollfd fds[1];
fds[0].fd = uart_fd;
fds[0].events = POLLIN;
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 */
ssize_t nread = read(uart_fd, buf, sizeof(buf));
nread = read(uart_fd, buf, sizeof(buf));
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
@ -751,10 +801,10 @@ receive_thread(void *arg)
/* handle generic messages and commands */
handle_message(&msg);
/* Handle packet with waypoint component */
/* handle packet with waypoint component */
mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
/* Handle packet with parameter component */
/* handle packet with parameter component */
mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
}
}

2
src/modules/mavlink/orb_listener.c
View File

@ -711,7 +711,7 @@ static void *
uorb_receive_thread(void *arg)
{
/* Set thread name */
prctl(PR_SET_NAME, "mavlink orb rcv", getpid());
prctl(PR_SET_NAME, "mavlink_orb_rcv", getpid());
/*
* set up poll to block for new data,

20
src/modules/mavlink_onboard/mavlink.c
View File

@ -167,12 +167,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
case 921600: speed = B921600; break;
default:
fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600", baud);
return -EINVAL;
}
/* open uart */
printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
warnx("UART is %s, baudrate is %d", uart_name, baud);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
@ -183,7 +183,7 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
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) {
fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
warnx("ERROR getting baudrate / termios config for %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
@ -196,14 +196,14 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
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) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)", uart_name);
close(uart);
return -1;
}
@ -481,9 +481,9 @@ int mavlink_thread_main(int argc, char *argv[])
static void
usage()
{
fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n"
" mavlink stop\n"
" mavlink status\n");
fprintf(stderr, "usage: mavlink_onboard start [-d <devicename>] [-b <baud rate>]\n"
" mavlink_onboard stop\n"
" mavlink_onboard status\n");
exit(1);
}
@ -499,7 +499,7 @@ int mavlink_onboard_main(int argc, char *argv[])
/* this is not an error */
if (thread_running)
errx(0, "mavlink already running\n");
errx(0, "already running");
thread_should_exit = false;
mavlink_task = task_spawn_cmd("mavlink_onboard",
@ -516,7 +516,7 @@ int mavlink_onboard_main(int argc, char *argv[])
while (thread_running) {
usleep(200000);
}
warnx("terminated.");
warnx("terminated");
exit(0);
}

92
src/modules/mavlink_onboard/mavlink_receiver.c
View File

@ -100,11 +100,11 @@ handle_message(mavlink_message_t *msg)
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))) {
|| (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");
warnx("terminating...");
fflush(stdout);
usleep(50000);
@ -132,6 +132,7 @@ handle_message(mavlink_message_t *msg)
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
}
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
@ -156,6 +157,7 @@ handle_message(mavlink_message_t *msg)
/* 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);
@ -186,6 +188,7 @@ handle_message(mavlink_message_t *msg)
/* 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);
@ -203,6 +206,7 @@ handle_message(mavlink_message_t *msg)
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);
}
@ -219,7 +223,7 @@ handle_message(mavlink_message_t *msg)
/* switch to a receiving link mode */
gcs_link = false;
/*
/*
* rate control mode - defined by MAVLink
*/
@ -227,33 +231,37 @@ handle_message(mavlink_message_t *msg)
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;
case 0:
ml_armed = false;
break;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true;
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
break;
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
break;
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;
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) {
if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
ml_armed = false;
}
@ -265,6 +273,7 @@ handle_message(mavlink_message_t *msg)
/* 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);
@ -281,31 +290,36 @@ handle_message(mavlink_message_t *msg)
static void *
receive_thread(void *arg)
{
int uart_fd = *((int*)arg);
int uart_fd = *((int *)arg);
const int timeout = 1000;
uint8_t ch;
uint8_t buf[32];
mavlink_message_t msg;
prctl(PR_SET_NAME, "mavlink offb rcv", getpid());
prctl(PR_SET_NAME, "mavlink_onboard_rcv", getpid());
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
ssize_t nread = 0;
while (!thread_should_exit) {
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
if (poll(fds, 1, timeout) > 0) {
/* non-blocking read until buffer is empty */
int nread = 0;
if (nread < sizeof(buf)) {
/* to avoid reading very small chunks wait for data before reading */
usleep(1000);
}
do {
nread = read(uart_fd, &ch, 1);
/* non-blocking read. read may return negative values */
nread = read(uart_fd, buf, sizeof(buf));
if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
/* 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);
}
} while (nread > 0);
}
}
}
@ -319,8 +333,8 @@ receive_start(int uart)
pthread_attr_init(&receiveloop_attr);
struct sched_param param;
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2048);