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Some mavlink fixes to use vehicle_control_mode, WIP

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This commit is contained in:
Anton Babushkin
2013-12-29 22:38:41 +04:00
parent 95bdc1a9bd
commit fa20fae6fb
4 changed files with 75 additions and 15 deletions
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src/modules/mavlink/mavlink.c
+8 -12
View File
@@ -220,22 +220,18 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u
} 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;
// TODO use control_mode topic
/*
if (v_status.navigation_state == NAVIGATION_STATE_AUTO_READY) {
// TODO review
if (control_mode.nav_state == NAV_STATE_NONE) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LOITER) {
} else if (control_mode.nav_state == NAV_STATE_LOITER) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION) {
} else if (control_mode.nav_state == NAV_STATE_MISSION_LOITER) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
} else if (control_mode.nav_state == NAV_STATE_RTL_LOITER) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
} else if (control_mode.nav_state == NAV_STATE_MISSION) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_RTL) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
}
*/
}
*mavlink_custom_mode = custom_mode.data;
src/modules/mavlink/orb_listener.c
+27
View File
@@ -69,6 +69,7 @@ struct vehicle_global_position_s global_pos;
struct vehicle_local_position_s local_pos;
struct navigation_capabilities_s nav_cap;
struct vehicle_status_s v_status;
struct vehicle_control_mode_s control_mode;
struct rc_channels_s rc;
struct rc_input_values rc_raw;
struct actuator_armed_s armed;
@@ -125,6 +126,7 @@ 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 void l_control_mode(const struct listener *l);
static const struct listener listeners[] = {
{l_sensor_combined, &mavlink_subs.sensor_sub, 0},
@@ -151,6 +153,7 @@ static const struct listener listeners[] = {
{l_home, &mavlink_subs.home_sub, 0},
{l_airspeed, &mavlink_subs.airspeed_sub, 0},
{l_nav_cap, &mavlink_subs.navigation_capabilities_sub, 0},
{l_control_mode, &mavlink_subs.control_mode_sub, 0},
};
static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
@@ -678,6 +681,26 @@ l_nav_cap(const struct listener *l)
}
void
l_control_mode(const struct listener *l)
{
orb_copy(ORB_ID(vehicle_control_mode), mavlink_subs.control_mode_sub, &control_mode);
/* 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);
}
static void *
uorb_receive_thread(void *arg)
{
@@ -753,6 +776,10 @@ uorb_receive_start(void)
status_sub = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(status_sub, 300); /* max 3.33 Hz updates */
/* --- CONTROL MODE --- */
mavlink_subs.control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
orb_set_interval(mavlink_subs.control_mode_sub, 300); /* max 3.33 Hz updates */
/* --- RC CHANNELS VALUE --- */
rc_sub = orb_subscribe(ORB_ID(rc_channels));
orb_set_interval(rc_sub, 100); /* 10Hz updates */
src/modules/mavlink/orb_topics.h
+4
View File
@@ -95,6 +95,7 @@ struct mavlink_subscriptions {
int home_sub;
int airspeed_sub;
int navigation_capabilities_sub;
int control_mode_sub;
};
extern struct mavlink_subscriptions mavlink_subs;
@@ -111,6 +112,9 @@ extern struct navigation_capabilities_s nav_cap;
/** Vehicle status */
extern struct vehicle_status_s v_status;
/** Vehicle control mode */
extern struct vehicle_control_mode_s control_mode;
/** RC channels */
extern struct rc_channels_s rc;