mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-31 05:21:35 +08:00
Merge remote-tracking branch 'upstream/master' into new_state_machine
Conflicts: src/drivers/px4io/px4io.cpp src/modules/commander/commander.c src/modules/commander/state_machine_helper.c
This commit is contained in:
Julian Oes
@@ -0,0 +1,819 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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 <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <unistd.h>
|
||||
#include <pthread.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <stdbool.h>
|
||||
#include <fcntl.h>
|
||||
#include <mqueue.h>
|
||||
#include <string.h>
|
||||
#include "mavlink_bridge_header.h"
|
||||
#include <v1.0/common/mavlink.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <time.h>
|
||||
#include <float.h>
|
||||
#include <unistd.h>
|
||||
#include <nuttx/sched.h>
|
||||
#include <sys/prctl.h>
|
||||
#include <termios.h>
|
||||
#include <errno.h>
|
||||
#include <stdlib.h>
|
||||
#include <poll.h>
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <mavlink/mavlink_log.h>
|
||||
|
||||
#include "waypoints.h"
|
||||
#include "orb_topics.h"
|
||||
#include "missionlib.h"
|
||||
#include "mavlink_hil.h"
|
||||
#include "util.h"
|
||||
#include "waypoints.h"
|
||||
#include "mavlink_parameters.h"
|
||||
|
||||
/* define MAVLink specific parameters */
|
||||
PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
|
||||
PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
|
||||
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;
|
||||
|
||||
mavlink_system_t mavlink_system = {
|
||||
100,
|
||||
50,
|
||||
MAV_TYPE_FIXED_WING,
|
||||
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);
|
||||
|
||||
/* 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) {
|
||||
|
||||
/* Advertise topics */
|
||||
pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
|
||||
pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
|
||||
|
||||
/* sensore level hil */
|
||||
pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
|
||||
pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
|
||||
|
||||
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_mode)
|
||||
{
|
||||
/* reset MAVLink mode bitfield */
|
||||
*mavlink_mode = 0;
|
||||
|
||||
/**
|
||||
* Set mode flags
|
||||
**/
|
||||
|
||||
/* HIL */
|
||||
if (v_status.flag_hil_enabled) {
|
||||
*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
|
||||
}
|
||||
|
||||
/* autonomous mode */
|
||||
if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_LOITER
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_READY
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_RTL
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_STANDBY
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
|
||||
*mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED;
|
||||
}
|
||||
|
||||
/* set arming state */
|
||||
if (v_status.arming_state == ARMING_STATE_ARMED
|
||||
|| v_status.arming_state == ARMING_STATE_ARMED_ERROR) {
|
||||
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
|
||||
|
||||
} else {
|
||||
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
|
||||
}
|
||||
|
||||
if (v_status.navigation_state == NAVIGATION_STATE_MANUAL
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_MANUAL_STANDBY) {
|
||||
|
||||
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
|
||||
}
|
||||
|
||||
if (v_status.navigation_state == NAVIGATION_STATE_SEATBELT
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_SEATBELT_DESCENT
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY) {
|
||||
|
||||
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Set mavlink state
|
||||
**/
|
||||
|
||||
/* set calibration state */
|
||||
if (v_status.flag_preflight_calibration) {
|
||||
|
||||
*mavlink_state = MAV_STATE_CALIBRATING;
|
||||
|
||||
} else if (v_status.flag_system_emergency) {
|
||||
|
||||
*mavlink_state = MAV_STATE_EMERGENCY;
|
||||
|
||||
// XXX difference between active and armed? is AUTO_READY active?
|
||||
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_LOITER
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_RTL
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_SEATBELT
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_SEATBELT_DESCENT
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_MANUAL) {
|
||||
|
||||
*mavlink_state = MAV_STATE_ACTIVE;
|
||||
|
||||
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_STANDBY
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_READY // XXX correct?
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY
|
||||
|| v_status.navigation_state == NAVIGATION_STATE_MANUAL_STANDBY) {
|
||||
|
||||
*mavlink_state = MAV_STATE_STANDBY;
|
||||
|
||||
} else if (v_status.navigation_state == NAVIGATION_STATE_INIT) {
|
||||
|
||||
*mavlink_state = MAV_STATE_UNINIT;
|
||||
} 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);
|
||||
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:
|
||||
fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
/* open uart */
|
||||
printf("[mavlink] 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;
|
||||
|
||||
/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
|
||||
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != 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);
|
||||
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) {
|
||||
fprintf(stderr, "[mavlink] 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) {
|
||||
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", 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;
|
||||
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, 5);
|
||||
|
||||
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 == 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();
|
||||
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);
|
||||
}
|
||||
|
||||
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(&mavlink_state, &mavlink_mode);
|
||||
|
||||
/* send heartbeat */
|
||||
mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state);
|
||||
|
||||
/* switch HIL mode if required */
|
||||
set_hil_on_off(v_status.flag_hil_enabled);
|
||||
|
||||
/* 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,
|
||||
v_status.voltage_battery * 1000.0f,
|
||||
v_status.current_battery * 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 quarter the time */
|
||||
usleep(25000);
|
||||
|
||||
/* check if waypoint has been reached against the last positions */
|
||||
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
|
||||
|
||||
/* sleep quarter the time */
|
||||
usleep(25000);
|
||||
|
||||
/* send parameters at 20 Hz (if queued for sending) */
|
||||
mavlink_pm_queued_send();
|
||||
|
||||
/* sleep quarter the time */
|
||||
usleep(25000);
|
||||
|
||||
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 */
|
||||
if (!usb_uart)
|
||||
tcsetattr(uart, TCSANOW, &uart_config_original);
|
||||
|
||||
thread_running = false;
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
static void
|
||||
usage()
|
||||
{
|
||||
fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\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\n");
|
||||
|
||||
thread_should_exit = false;
|
||||
mavlink_task = task_spawn("mavlink",
|
||||
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);
|
||||
printf(".");
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user