/**************************************************************************** * * Copyright (c) 2012-2021 PX4 Development Team. All rights reserved. * * 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_receiver.cpp * MAVLink protocol message receive and dispatch * * @author Lorenz Meier * @author Anton Babushkin * @author Thomas Gubler */ #include #include #include #include #include #ifdef CONFIG_NET #include #include #include #endif #ifndef __PX4_POSIX #include #endif #include "mavlink_command_sender.h" #include "mavlink_main.h" #include "mavlink_receiver.h" #include // For DeviceId union #ifdef CONFIG_NET #define MAVLINK_RECEIVER_NET_ADDED_STACK 1360 #else #define MAVLINK_RECEIVER_NET_ADDED_STACK 0 #endif MavlinkReceiver::~MavlinkReceiver() { delete _tune_publisher; delete _px4_accel; delete _px4_gyro; delete _px4_mag; #if !defined(CONSTRAINED_FLASH) delete[] _received_msg_stats; #endif // !CONSTRAINED_FLASH _distance_sensor_pub.unadvertise(); _gps_inject_data_pub.unadvertise(); _rc_pub.unadvertise(); _manual_control_input_pub.unadvertise(); _ping_pub.unadvertise(); _radio_status_pub.unadvertise(); _sensor_baro_pub.unadvertise(); _sensor_gps_pub.unadvertise(); _sensor_optical_flow_pub.unadvertise(); } static constexpr vehicle_odometry_s vehicle_odometry_empty { .timestamp = 0, .timestamp_sample = 0, .position = {NAN, NAN, NAN}, .q = {NAN, NAN, NAN, NAN}, .velocity = {NAN, NAN, NAN}, .angular_velocity = {NAN, NAN, NAN}, .position_variance = {NAN, NAN, NAN}, .orientation_variance = {NAN, NAN, NAN}, .velocity_variance = {NAN, NAN, NAN}, .pose_frame = vehicle_odometry_s::POSE_FRAME_UNKNOWN, .velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_UNKNOWN, .reset_counter = 0, .quality = 0 }; MavlinkReceiver::MavlinkReceiver(Mavlink &parent) : ModuleParams(nullptr), _mavlink(parent), _mavlink_ftp(parent), _mavlink_log_handler(parent), _mission_manager(parent), _parameters_manager(parent), _mavlink_timesync(parent) { } void MavlinkReceiver::acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, uint8_t result, uint8_t progress) { vehicle_command_ack_s command_ack{}; command_ack.timestamp = hrt_absolute_time(); command_ack.command = command; command_ack.result = result; command_ack.target_system = sysid; command_ack.target_component = compid; command_ack.result_param1 = progress; _cmd_ack_pub.publish(command_ack); } void MavlinkReceiver::handle_message(mavlink_message_t *msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_COMMAND_LONG: handle_message_command_long(msg); break; case MAVLINK_MSG_ID_COMMAND_INT: handle_message_command_int(msg); break; case MAVLINK_MSG_ID_COMMAND_ACK: handle_message_command_ack(msg); break; case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD: handle_message_optical_flow_rad(msg); break; case MAVLINK_MSG_ID_PING: handle_message_ping(msg); break; case MAVLINK_MSG_ID_SET_MODE: handle_message_set_mode(msg); break; case MAVLINK_MSG_ID_ATT_POS_MOCAP: handle_message_att_pos_mocap(msg); break; case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: handle_message_set_position_target_local_ned(msg); break; case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT: handle_message_set_position_target_global_int(msg); break; case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: handle_message_set_attitude_target(msg); break; case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE: handle_message_vision_position_estimate(msg); break; case MAVLINK_MSG_ID_ODOMETRY: handle_message_odometry(msg); break; case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN: handle_message_set_gps_global_origin(msg); break; case MAVLINK_MSG_ID_RADIO_STATUS: handle_message_radio_status(msg); break; case MAVLINK_MSG_ID_MANUAL_CONTROL: handle_message_manual_control(msg); break; case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: handle_message_rc_channels_override(msg); break; case MAVLINK_MSG_ID_HEARTBEAT: handle_message_heartbeat(msg); break; case MAVLINK_MSG_ID_DISTANCE_SENSOR: handle_message_distance_sensor(msg); break; case MAVLINK_MSG_ID_FOLLOW_TARGET: handle_message_follow_target(msg); break; case MAVLINK_MSG_ID_LANDING_TARGET: handle_message_landing_target(msg); break; case MAVLINK_MSG_ID_CELLULAR_STATUS: handle_message_cellular_status(msg); break; case MAVLINK_MSG_ID_ADSB_VEHICLE: handle_message_adsb_vehicle(msg); break; case MAVLINK_MSG_ID_COLLISION: handle_message_collision(msg); break; case MAVLINK_MSG_ID_GPS_RTCM_DATA: handle_message_gps_rtcm_data(msg); break; case MAVLINK_MSG_ID_BATTERY_STATUS: handle_message_battery_status(msg); break; case MAVLINK_MSG_ID_SERIAL_CONTROL: handle_message_serial_control(msg); break; case MAVLINK_MSG_ID_LOGGING_ACK: handle_message_logging_ack(msg); break; case MAVLINK_MSG_ID_PLAY_TUNE: handle_message_play_tune(msg); break; case MAVLINK_MSG_ID_PLAY_TUNE_V2: handle_message_play_tune_v2(msg); break; case MAVLINK_MSG_ID_OBSTACLE_DISTANCE: handle_message_obstacle_distance(msg); break; case MAVLINK_MSG_ID_TUNNEL: handle_message_tunnel(msg); break; case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER: handle_message_trajectory_representation_bezier(msg); break; case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS: handle_message_trajectory_representation_waypoints(msg); break; case MAVLINK_MSG_ID_ONBOARD_COMPUTER_STATUS: handle_message_onboard_computer_status(msg); break; case MAVLINK_MSG_ID_GENERATOR_STATUS: handle_message_generator_status(msg); break; case MAVLINK_MSG_ID_STATUSTEXT: handle_message_statustext(msg); break; case MAVLINK_MSG_ID_OPEN_DRONE_ID_OPERATOR_ID: handle_message_open_drone_id_operator_id(msg); break; #if !defined(CONSTRAINED_FLASH) case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: handle_message_named_value_float(msg); break; case MAVLINK_MSG_ID_NAMED_VALUE_INT: handle_message_named_value_int(msg); break; case MAVLINK_MSG_ID_DEBUG: handle_message_debug(msg); break; case MAVLINK_MSG_ID_DEBUG_VECT: handle_message_debug_vect(msg); break; case MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY: handle_message_debug_float_array(msg); break; #endif // !CONSTRAINED_FLASH case MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE: handle_message_gimbal_manager_set_attitude(msg); break; case MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_MANUAL_CONTROL: handle_message_gimbal_manager_set_manual_control(msg); break; case MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION: handle_message_gimbal_device_information(msg); break; case MAVLINK_MSG_ID_REQUEST_EVENT: handle_message_request_event(msg); break; case MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS: handle_message_gimbal_device_attitude_status(msg); break; #if defined(MAVLINK_MSG_ID_SET_VELOCITY_LIMITS) // For now only defined if development.xml is used case MAVLINK_MSG_ID_SET_VELOCITY_LIMITS: handle_message_set_velocity_limits(msg); break; #endif default: break; } /* * Only decode hil messages in HIL mode. * * The HIL mode is enabled by the HIL bit flag * in the system mode. Either send a set mode * COMMAND_LONG message or a SET_MODE message * * Accept HIL GPS messages if use_hil_gps flag is true. * This allows to provide fake gps measurements to the system. */ if (_mavlink.get_hil_enabled()) { switch (msg->msgid) { case MAVLINK_MSG_ID_HIL_SENSOR: handle_message_hil_sensor(msg); break; case MAVLINK_MSG_ID_HIL_STATE_QUATERNION: handle_message_hil_state_quaternion(msg); break; case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW: handle_message_hil_optical_flow(msg); break; default: break; } } if (_mavlink.get_hil_enabled() || (_mavlink.get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) { switch (msg->msgid) { case MAVLINK_MSG_ID_HIL_GPS: handle_message_hil_gps(msg); break; default: break; } } /* handle packet with mission manager */ _mission_manager.handle_message(msg); /* handle packet with parameter component */ if (_mavlink.boot_complete()) { // make sure mavlink app has booted before we start processing parameter sync _parameters_manager.handle_message(msg); } else { if (hrt_elapsed_time(&_mavlink.get_first_start_time()) > 20_s) { PX4_ERR("system boot did not complete in 20 seconds"); _mavlink.set_boot_complete(); } } if (_mavlink.ftp_enabled()) { /* handle packet with ftp component */ _mavlink_ftp.handle_message(msg); } /* handle packet with log component */ _mavlink_log_handler.handle_message(msg); /* handle packet with timesync component */ _mavlink_timesync.handle_message(msg); /* handle packet with parent object */ _mavlink.handle_message(msg); } void MavlinkReceiver::handle_messages_in_gimbal_mode(mavlink_message_t &msg) { switch (msg.msgid) { case MAVLINK_MSG_ID_HEARTBEAT: handle_message_heartbeat(&msg); break; case MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE: handle_message_gimbal_manager_set_attitude(&msg); break; case MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_MANUAL_CONTROL: handle_message_gimbal_manager_set_manual_control(&msg); break; case MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION: handle_message_gimbal_device_information(&msg); break; case MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS: handle_message_gimbal_device_attitude_status(&msg); break; } // Message forwarding _mavlink.handle_message(&msg); } bool MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_component) { /* evaluate if this system should accept this command */ bool target_ok = false; switch (command) { case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: case MAV_CMD_REQUEST_PROTOCOL_VERSION: /* broadcast and ignore component */ target_ok = (target_system == 0) || (target_system == mavlink_system.sysid); break; default: target_ok = (target_system == mavlink_system.sysid) && ((target_component == mavlink_system.compid) || (target_component == MAV_COMP_ID_ALL)); break; } return target_ok; } void MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) { /* command */ mavlink_command_long_t cmd_mavlink; mavlink_msg_command_long_decode(msg, &cmd_mavlink); vehicle_command_s vcmd{}; vcmd.timestamp = hrt_absolute_time(); const float before_int32_max = nextafterf((float)INT32_MAX, 0.0f); const float after_int32_max = nextafterf((float)INT32_MAX, (float)INFINITY); if (cmd_mavlink.param5 >= before_int32_max && cmd_mavlink.param5 <= after_int32_max && cmd_mavlink.param6 >= before_int32_max && cmd_mavlink.param6 <= after_int32_max) { // This looks suspicously like INT32_MAX was sent in a COMMAND_LONG instead of // a COMMAND_INT. PX4_ERR("param5/param6 invalid of command %" PRIu16, cmd_mavlink.command); acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED); return; } /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ vcmd.param1 = cmd_mavlink.param1; vcmd.param2 = cmd_mavlink.param2; vcmd.param3 = cmd_mavlink.param3; vcmd.param4 = cmd_mavlink.param4; vcmd.param5 = (double)cmd_mavlink.param5; vcmd.param6 = (double)cmd_mavlink.param6; vcmd.param7 = cmd_mavlink.param7; vcmd.command = cmd_mavlink.command; vcmd.target_system = cmd_mavlink.target_system; vcmd.target_component = cmd_mavlink.target_component; vcmd.source_system = msg->sysid; vcmd.source_component = msg->compid; vcmd.confirmation = cmd_mavlink.confirmation; vcmd.from_external = true; handle_message_command_both(msg, cmd_mavlink, vcmd); } void MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg) { /* command */ mavlink_command_int_t cmd_mavlink; mavlink_msg_command_int_decode(msg, &cmd_mavlink); vehicle_command_s vcmd{}; vcmd.timestamp = hrt_absolute_time(); if (cmd_mavlink.x == 0x7ff80000 && cmd_mavlink.y == 0x7ff80000) { // This looks like NAN was by accident sent as int. PX4_ERR("x/y invalid of command %" PRIu16, cmd_mavlink.command); acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED); return; } /* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */ vcmd.param1 = cmd_mavlink.param1; vcmd.param2 = cmd_mavlink.param2; vcmd.param3 = cmd_mavlink.param3; vcmd.param4 = cmd_mavlink.param4; if (cmd_mavlink.x == INT32_MAX && cmd_mavlink.y == INT32_MAX) { // INT32_MAX for x and y means to ignore it. vcmd.param5 = (double)NAN; vcmd.param6 = (double)NAN; } else { vcmd.param5 = ((double)cmd_mavlink.x) / 1e7; vcmd.param6 = ((double)cmd_mavlink.y) / 1e7; } vcmd.param7 = cmd_mavlink.z; vcmd.command = cmd_mavlink.command; vcmd.target_system = cmd_mavlink.target_system; vcmd.target_component = cmd_mavlink.target_component; vcmd.source_system = msg->sysid; vcmd.source_component = msg->compid; vcmd.confirmation = false; vcmd.from_external = true; handle_message_command_both(msg, cmd_mavlink, vcmd); } template void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const T &cmd_mavlink, const vehicle_command_s &vehicle_command) { bool target_ok = evaluate_target_ok(cmd_mavlink.command, cmd_mavlink.target_system, cmd_mavlink.target_component); bool send_ack = true; uint8_t result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; uint8_t progress = 0; // TODO: should be 255, 0 for backwards compatibility if (!target_ok) { // Reject alien commands only if there is no forwarding or we've never seen target component before if (!_mavlink.get_forwarding_on() || !_mavlink.component_was_seen(cmd_mavlink.target_system, cmd_mavlink.target_component, _mavlink)) { acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED); } return; } // First we handle legacy support requests which were used before we had // the generic MAV_CMD_REQUEST_MESSAGE. if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) { result = handle_request_message_command(MAVLINK_MSG_ID_AUTOPILOT_VERSION); } else if (cmd_mavlink.command == MAV_CMD_REQUEST_PROTOCOL_VERSION) { result = handle_request_message_command(MAVLINK_MSG_ID_PROTOCOL_VERSION); } else if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) { result = handle_request_message_command(MAVLINK_MSG_ID_HOME_POSITION); } else if (cmd_mavlink.command == MAV_CMD_REQUEST_FLIGHT_INFORMATION) { result = handle_request_message_command(MAVLINK_MSG_ID_FLIGHT_INFORMATION); } else if (cmd_mavlink.command == MAV_CMD_REQUEST_STORAGE_INFORMATION) { result = handle_request_message_command(MAVLINK_MSG_ID_STORAGE_INFORMATION); } else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) { if (set_message_interval((int)roundf(cmd_mavlink.param1), cmd_mavlink.param2, cmd_mavlink.param3)) { result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED; } } else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) { get_message_interval((int)roundf(cmd_mavlink.param1)); } else if (cmd_mavlink.command == MAV_CMD_REQUEST_MESSAGE) { uint16_t message_id = (uint16_t)roundf(vehicle_command.param1); result = handle_request_message_command(message_id, vehicle_command.param2, vehicle_command.param3, vehicle_command.param4, vehicle_command.param5, vehicle_command.param6, vehicle_command.param7); } else if (cmd_mavlink.command == MAV_CMD_INJECT_FAILURE) { if (_mavlink.failure_injection_enabled()) { _cmd_pub.publish(vehicle_command); send_ack = false; } else { result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED; send_ack = true; } } else if (cmd_mavlink.command == MAV_CMD_DO_AUTOTUNE_ENABLE) { bool has_module = true; autotune_attitude_control_status_s status{}; _autotune_attitude_control_status_sub.copy(&status); // if not busy enable via the parameter // do not check the return value of the uORB copy above because the module // starts publishing only when MC_AT_START is set if (status.state == autotune_attitude_control_status_s::STATE_IDLE) { vehicle_status_s vehicle_status{}; _vehicle_status_sub.copy(&vehicle_status); if (!vehicle_status.in_transition_mode) { param_t atune_start; switch (vehicle_status.vehicle_type) { case vehicle_status_s::VEHICLE_TYPE_FIXED_WING: atune_start = param_find("FW_AT_START"); break; case vehicle_status_s::VEHICLE_TYPE_ROTARY_WING: atune_start = param_find("MC_AT_START"); break; default: atune_start = PARAM_INVALID; break; } if (atune_start == PARAM_INVALID) { has_module = false; } else { int32_t start = 1; param_set(atune_start, &start); } } else { has_module = false; } } if (has_module) { // most are in progress result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS; switch (status.state) { case autotune_attitude_control_status_s::STATE_IDLE: case autotune_attitude_control_status_s::STATE_INIT: progress = 0; break; case autotune_attitude_control_status_s::STATE_ROLL: case autotune_attitude_control_status_s::STATE_ROLL_PAUSE: progress = 20; break; case autotune_attitude_control_status_s::STATE_PITCH: case autotune_attitude_control_status_s::STATE_PITCH_PAUSE: progress = 40; break; case autotune_attitude_control_status_s::STATE_YAW: case autotune_attitude_control_status_s::STATE_YAW_PAUSE: progress = 60; break; case autotune_attitude_control_status_s::STATE_VERIFICATION: progress = 80; break; case autotune_attitude_control_status_s::STATE_APPLY: progress = 85; break; case autotune_attitude_control_status_s::STATE_TEST: progress = 90; break; case autotune_attitude_control_status_s::STATE_WAIT_FOR_DISARM: progress = 95; break; case autotune_attitude_control_status_s::STATE_COMPLETE: progress = 100; // ack it properly with an ACCEPTED once we're done result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; break; case autotune_attitude_control_status_s::STATE_FAIL: progress = 0; result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED; break; } } else { result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED; } send_ack = true; } else { send_ack = false; if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { PX4_WARN("ignoring CMD with same SYS/COMP (%" PRIu8 "/%" PRIu8 ") ID", mavlink_system.sysid, mavlink_system.compid); return; } if (cmd_mavlink.command == MAV_CMD_LOGGING_START) { // check that we have enough bandwidth available: this is given by the configured logger topics // and rates. The 5000 is somewhat arbitrary, but makes sure that we cannot enable log streaming // on a radio link if (_mavlink.get_data_rate() < 5000) { send_ack = true; result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED; _mavlink.send_statustext_critical("Not enough bandwidth to enable log streaming\t"); events::send(events::ID("mavlink_log_not_enough_bw"), events::Log::Error, "Not enough bandwidth to enable log streaming ({1} \\< 5000)", _mavlink.get_data_rate()); } else { // we already instanciate the streaming object, because at this point we know on which // mavlink channel streaming was requested. But in fact it's possible that the logger is // not even running. The main mavlink thread takes care of this by waiting for an ack // from the logger. _mavlink.try_start_ulog_streaming(msg->sysid, msg->compid); } } if (!send_ack) { _cmd_pub.publish(vehicle_command); } } if (send_ack) { acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, result, progress); } } uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, float param2, float param3, float param4, float param5, float param6, float param7) { bool stream_found = false; bool message_sent = false; for (const auto &stream : _mavlink.get_streams()) { if (stream->get_id() == message_id) { stream_found = true; message_sent = stream->request_message(param2, param3, param4, param5, param6, param7); break; } } if (!stream_found) { // If we don't find the stream, we can configure it with rate 0 and then trigger it once. const char *stream_name = get_stream_name(message_id); if (stream_name != nullptr) { _mavlink.configure_stream_threadsafe(stream_name, 0.0f); // Now we try again to send it. for (const auto &stream : _mavlink.get_streams()) { if (stream->get_id() == message_id) { message_sent = stream->request_message(param2, param3, param4, param5, param6, param7); break; } } } } return (message_sent ? vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED); } void MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg) { mavlink_command_ack_t ack; mavlink_msg_command_ack_decode(msg, &ack); MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid, _mavlink.get_channel()); vehicle_command_ack_s command_ack{}; command_ack.timestamp = hrt_absolute_time(); command_ack.result_param2 = ack.result_param2; command_ack.command = ack.command; command_ack.result = ack.result; command_ack.from_external = true; command_ack.result_param1 = ack.progress; command_ack.target_system = ack.target_system; command_ack.target_component = ack.target_component; _cmd_ack_pub.publish(command_ack); // TODO: move it to the same place that sent the command if (ack.result == MAV_RESULT_FAILED) { if (msg->compid == MAV_COMP_ID_CAMERA) { PX4_WARN("Got unsuccessful result %" PRIu8 " from camera", ack.result); } } } void MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) { mavlink_optical_flow_rad_t flow; mavlink_msg_optical_flow_rad_decode(msg, &flow); device::Device::DeviceId device_id; device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; device_id.devid_s.bus = _mavlink.get_instance_id(); device_id.devid_s.address = msg->sysid; device_id.devid_s.devtype = DRV_FLOW_DEVTYPE_MAVLINK; sensor_optical_flow_s sensor_optical_flow{}; sensor_optical_flow.timestamp_sample = hrt_absolute_time(); sensor_optical_flow.device_id = device_id.devid; sensor_optical_flow.pixel_flow[0] = flow.integrated_x; sensor_optical_flow.pixel_flow[1] = flow.integrated_y; sensor_optical_flow.integration_timespan_us = flow.integration_time_us; sensor_optical_flow.quality = flow.quality; const matrix::Vector3f integrated_gyro(flow.integrated_xgyro, flow.integrated_ygyro, flow.integrated_zgyro); if (integrated_gyro.isAllFinite()) { integrated_gyro.copyTo(sensor_optical_flow.delta_angle); sensor_optical_flow.delta_angle_available = true; } sensor_optical_flow.max_flow_rate = NAN; sensor_optical_flow.min_ground_distance = NAN; sensor_optical_flow.max_ground_distance = NAN; // Use distance value for distance sensor topic if (PX4_ISFINITE(flow.distance) && (flow.distance >= 0.f)) { // Positive value (including zero): distance known. Negative value: Unknown distance. sensor_optical_flow.distance_m = flow.distance; sensor_optical_flow.distance_available = true; } sensor_optical_flow.timestamp = hrt_absolute_time(); _sensor_optical_flow_pub.publish(sensor_optical_flow); } void MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg) { mavlink_hil_optical_flow_t flow; mavlink_msg_hil_optical_flow_decode(msg, &flow); device::Device::DeviceId device_id; device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; device_id.devid_s.bus = _mavlink.get_instance_id(); device_id.devid_s.address = msg->sysid; device_id.devid_s.devtype = DRV_FLOW_DEVTYPE_SIM; sensor_optical_flow_s sensor_optical_flow{}; sensor_optical_flow.timestamp_sample = hrt_absolute_time(); sensor_optical_flow.device_id = device_id.devid; sensor_optical_flow.pixel_flow[0] = flow.integrated_x; sensor_optical_flow.pixel_flow[1] = flow.integrated_y; sensor_optical_flow.integration_timespan_us = flow.integration_time_us; sensor_optical_flow.quality = flow.quality; const matrix::Vector3f integrated_gyro(flow.integrated_xgyro, flow.integrated_ygyro, flow.integrated_zgyro); if (integrated_gyro.isAllFinite()) { integrated_gyro.copyTo(sensor_optical_flow.delta_angle); sensor_optical_flow.delta_angle_available = true; } sensor_optical_flow.max_flow_rate = NAN; sensor_optical_flow.min_ground_distance = NAN; sensor_optical_flow.max_ground_distance = NAN; // Use distance value for distance sensor topic if (PX4_ISFINITE(flow.distance) && (flow.distance >= 0.f)) { // Positive value (including zero): distance known. Negative value: Unknown distance. sensor_optical_flow.distance_m = flow.distance; sensor_optical_flow.distance_available = true; } sensor_optical_flow.timestamp = hrt_absolute_time(); _sensor_optical_flow_pub.publish(sensor_optical_flow); } void MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg) { mavlink_set_mode_t new_mode; mavlink_msg_set_mode_decode(msg, &new_mode); union px4_custom_mode custom_mode; custom_mode.data = new_mode.custom_mode; vehicle_command_s vcmd{}; vcmd.timestamp = hrt_absolute_time(); /* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ vcmd.param1 = (float)new_mode.base_mode; vcmd.param2 = (float)custom_mode.main_mode; vcmd.param3 = (float)custom_mode.sub_mode; vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE; vcmd.target_system = new_mode.target_system; vcmd.target_component = MAV_COMP_ID_ALL; vcmd.source_system = msg->sysid; vcmd.source_component = msg->compid; vcmd.confirmation = true; vcmd.from_external = true; _cmd_pub.publish(vcmd); } void MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg) { mavlink_distance_sensor_t dist_sensor; mavlink_msg_distance_sensor_decode(msg, &dist_sensor); distance_sensor_s ds{}; device::Device::DeviceId device_id; device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; device_id.devid_s.bus = _mavlink.get_instance_id(); device_id.devid_s.address = msg->sysid; device_id.devid_s.devtype = DRV_DIST_DEVTYPE_MAVLINK; ds.timestamp = hrt_absolute_time(); /* Use system time for now, don't trust sender to attach correct timestamp */ ds.min_distance = static_cast(dist_sensor.min_distance) * 1e-2f; /* cm to m */ ds.max_distance = static_cast(dist_sensor.max_distance) * 1e-2f; /* cm to m */ ds.current_distance = static_cast(dist_sensor.current_distance) * 1e-2f; /* cm to m */ ds.variance = dist_sensor.covariance * 1e-4f; /* cm^2 to m^2 */ ds.h_fov = dist_sensor.horizontal_fov; ds.v_fov = dist_sensor.vertical_fov; ds.q[0] = dist_sensor.quaternion[0]; ds.q[1] = dist_sensor.quaternion[1]; ds.q[2] = dist_sensor.quaternion[2]; ds.q[3] = dist_sensor.quaternion[3]; ds.type = dist_sensor.type; ds.device_id = device_id.devid; ds.orientation = dist_sensor.orientation; // MAVLink DISTANCE_SENSOR signal_quality value of 0 means unset/unknown // quality value. Also it comes normalised between 1 and 100 while the uORB // signal quality is normalised between 0 and 100. ds.signal_quality = dist_sensor.signal_quality == 0 ? -1 : 100 * (dist_sensor.signal_quality - 1) / 99; _distance_sensor_pub.publish(ds); } void MavlinkReceiver::handle_message_att_pos_mocap(mavlink_message_t *msg) { mavlink_att_pos_mocap_t att_pos_mocap; mavlink_msg_att_pos_mocap_decode(msg, &att_pos_mocap); // fill vehicle_odometry from Mavlink ATT_POS_MOCAP vehicle_odometry_s odom{vehicle_odometry_empty}; odom.timestamp_sample = _mavlink_timesync.sync_stamp(att_pos_mocap.time_usec); odom.q[0] = att_pos_mocap.q[0]; odom.q[1] = att_pos_mocap.q[1]; odom.q[2] = att_pos_mocap.q[2]; odom.q[3] = att_pos_mocap.q[3]; odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED; odom.position[0] = att_pos_mocap.x; odom.position[1] = att_pos_mocap.y; odom.position[2] = att_pos_mocap.z; // ATT_POS_MOCAP covariance // Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle // (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). // If unknown, assign NaN value to first element in the array. odom.position_variance[0] = att_pos_mocap.covariance[0]; // X row 0, col 0 odom.position_variance[1] = att_pos_mocap.covariance[6]; // Y row 1, col 1 odom.position_variance[2] = att_pos_mocap.covariance[11]; // Z row 2, col 2 odom.orientation_variance[0] = att_pos_mocap.covariance[15]; // R row 3, col 3 odom.orientation_variance[1] = att_pos_mocap.covariance[18]; // P row 4, col 4 odom.orientation_variance[2] = att_pos_mocap.covariance[20]; // Y row 5, col 5 odom.timestamp = hrt_absolute_time(); _mocap_odometry_pub.publish(odom); } void MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t *msg) { mavlink_set_position_target_local_ned_t target_local_ned; mavlink_msg_set_position_target_local_ned_decode(msg, &target_local_ned); /* Only accept messages which are intended for this system */ if (_mavlink.get_forward_externalsp() && (mavlink_system.sysid == target_local_ned.target_system || target_local_ned.target_system == 0) && (mavlink_system.compid == target_local_ned.target_component || target_local_ned.target_component == 0)) { trajectory_setpoint_s setpoint{}; const uint16_t type_mask = target_local_ned.type_mask; if (target_local_ned.coordinate_frame == MAV_FRAME_LOCAL_NED) { setpoint.position[0] = (type_mask & POSITION_TARGET_TYPEMASK_X_IGNORE) ? (float)NAN : target_local_ned.x; setpoint.position[1] = (type_mask & POSITION_TARGET_TYPEMASK_Y_IGNORE) ? (float)NAN : target_local_ned.y; setpoint.position[2] = (type_mask & POSITION_TARGET_TYPEMASK_Z_IGNORE) ? (float)NAN : target_local_ned.z; setpoint.velocity[0] = (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? (float)NAN : target_local_ned.vx; setpoint.velocity[1] = (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? (float)NAN : target_local_ned.vy; setpoint.velocity[2] = (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? (float)NAN : target_local_ned.vz; setpoint.acceleration[0] = (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? (float)NAN : target_local_ned.afx; setpoint.acceleration[1] = (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? (float)NAN : target_local_ned.afy; setpoint.acceleration[2] = (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? (float)NAN : target_local_ned.afz; } else if (target_local_ned.coordinate_frame == MAV_FRAME_BODY_NED) { vehicle_attitude_s vehicle_attitude{}; _vehicle_attitude_sub.copy(&vehicle_attitude); const matrix::Dcmf R{matrix::Quatf{vehicle_attitude.q}}; const bool ignore_velocity = type_mask & (POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE); if (!ignore_velocity) { const matrix::Vector3f velocity_body_sp{ (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? 0.f : target_local_ned.vx, (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? 0.f : target_local_ned.vy, (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? 0.f : target_local_ned.vz }; const float yaw = matrix::Eulerf{R}(2); setpoint.velocity[0] = cosf(yaw) * velocity_body_sp(0) - sinf(yaw) * velocity_body_sp(1); setpoint.velocity[1] = sinf(yaw) * velocity_body_sp(0) + cosf(yaw) * velocity_body_sp(1); setpoint.velocity[2] = velocity_body_sp(2); } else { matrix::Vector3f(NAN, NAN, NAN).copyTo(setpoint.velocity); } const bool ignore_acceleration = type_mask & (POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE); if (!ignore_acceleration) { const matrix::Vector3f acceleration_body_sp{ (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? 0.f : target_local_ned.afx, (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? 0.f : target_local_ned.afy, (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? 0.f : target_local_ned.afz }; const matrix::Vector3f acceleration_setpoint{R * acceleration_body_sp}; acceleration_setpoint.copyTo(setpoint.acceleration); } else { matrix::Vector3f(NAN, NAN, NAN).copyTo(setpoint.acceleration); } matrix::Vector3f(NAN, NAN, NAN).copyTo(setpoint.position); } else { mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED coordinate frame %" PRIu8 " unsupported\t", target_local_ned.coordinate_frame); events::send(events::ID("mavlink_rcv_sp_target_unsup_coord"), events::Log::Error, "SET_POSITION_TARGET_LOCAL_NED: coordinate frame {1} unsupported", target_local_ned.coordinate_frame); return; } setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? (float)NAN : target_local_ned.yaw; setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? (float)NAN : target_local_ned.yaw_rate; offboard_control_mode_s ocm{}; ocm.position = !matrix::Vector3f(setpoint.position).isAllNan(); ocm.velocity = !matrix::Vector3f(setpoint.velocity).isAllNan(); ocm.acceleration = !matrix::Vector3f(setpoint.acceleration).isAllNan(); if (ocm.acceleration && (type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET)) { mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED force not supported\t"); events::send(events::ID("mavlink_rcv_sp_target_unsup_force"), events::Log::Error, "SET_POSITION_TARGET_LOCAL_NED: FORCE is not supported"); return; } if (ocm.position || ocm.velocity || ocm.acceleration) { // publish offboard_control_mode ocm.timestamp = hrt_absolute_time(); _offboard_control_mode_pub.publish(ocm); vehicle_status_s vehicle_status{}; _vehicle_status_sub.copy(&vehicle_status); if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) { // only publish setpoint once in OFFBOARD setpoint.timestamp = hrt_absolute_time(); _trajectory_setpoint_pub.publish(setpoint); } } else { mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED invalid\t"); events::send(events::ID("mavlink_rcv_sp_target_invalid"), events::Log::Error, "SET_POSITION_TARGET_LOCAL_NED: invalid, missing position, velocity or acceleration"); } } } void MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t *msg) { mavlink_set_position_target_global_int_t target_global_int; mavlink_msg_set_position_target_global_int_decode(msg, &target_global_int); /* Only accept messages which are intended for this system */ if (_mavlink.get_forward_externalsp() && (mavlink_system.sysid == target_global_int.target_system || target_global_int.target_system == 0) && (mavlink_system.compid == target_global_int.target_component || target_global_int.target_component == 0)) { trajectory_setpoint_s setpoint{}; const uint16_t type_mask = target_global_int.type_mask; // position if (!(type_mask & (POSITION_TARGET_TYPEMASK_X_IGNORE | POSITION_TARGET_TYPEMASK_Y_IGNORE | POSITION_TARGET_TYPEMASK_Z_IGNORE))) { vehicle_local_position_s local_pos{}; _vehicle_local_position_sub.copy(&local_pos); if (!local_pos.xy_global || !local_pos.z_global) { return; } MapProjection global_local_proj_ref{local_pos.ref_lat, local_pos.ref_lon, local_pos.ref_timestamp}; // global -> local const double lat = target_global_int.lat_int / 1e7; const double lon = target_global_int.lon_int / 1e7; global_local_proj_ref.project(lat, lon, setpoint.position[0], setpoint.position[1]); if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_INT) { setpoint.position[2] = local_pos.ref_alt - target_global_int.alt; } else if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) { home_position_s home_position{}; _home_position_sub.copy(&home_position); if (home_position.valid_alt) { const float alt = home_position.alt - target_global_int.alt; setpoint.position[2] = alt - local_pos.ref_alt; } else { // home altitude required return; } } else if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) { vehicle_global_position_s vehicle_global_position{}; _vehicle_global_position_sub.copy(&vehicle_global_position); if (vehicle_global_position.terrain_alt_valid) { const float alt = target_global_int.alt + vehicle_global_position.terrain_alt; setpoint.position[2] = local_pos.ref_alt - alt; } else { // valid terrain alt required return; } } else { mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame %" PRIu8 "\t", target_global_int.coordinate_frame); events::send(events::ID("mavlink_rcv_sp_target_gl_invalid_coord"), events::Log::Error, "SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame {1}", target_global_int.coordinate_frame); return; } } else { matrix::Vector3f(NAN, NAN, NAN).copyTo(setpoint.position); } // velocity setpoint.velocity[0] = (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? (float)NAN : target_global_int.vx; setpoint.velocity[1] = (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? (float)NAN : target_global_int.vy; setpoint.velocity[2] = (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? (float)NAN : target_global_int.vz; // acceleration setpoint.acceleration[0] = (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? (float)NAN : target_global_int.afx; setpoint.acceleration[1] = (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? (float)NAN : target_global_int.afy; setpoint.acceleration[2] = (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? (float)NAN : target_global_int.afz; setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? (float)NAN : target_global_int.yaw; setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? (float)NAN : target_global_int.yaw_rate; offboard_control_mode_s ocm{}; ocm.position = !matrix::Vector3f(setpoint.position).isAllNan(); ocm.velocity = !matrix::Vector3f(setpoint.velocity).isAllNan(); ocm.acceleration = !matrix::Vector3f(setpoint.acceleration).isAllNan(); if (ocm.acceleration && (type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET)) { mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_GLOBAL_INT force not supported\t"); events::send(events::ID("mavlink_rcv_sp_target_gl_unsup_force"), events::Log::Error, "SET_POSITION_TARGET_GLOBAL_INT: FORCE is not supported"); return; } if (ocm.position || ocm.velocity || ocm.acceleration) { // publish offboard_control_mode ocm.timestamp = hrt_absolute_time(); _offboard_control_mode_pub.publish(ocm); vehicle_status_s vehicle_status{}; _vehicle_status_sub.copy(&vehicle_status); if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) { // only publish setpoint once in OFFBOARD setpoint.timestamp = hrt_absolute_time(); _trajectory_setpoint_pub.publish(setpoint); } } } } void MavlinkReceiver::handle_message_set_gps_global_origin(mavlink_message_t *msg) { mavlink_set_gps_global_origin_t gps_global_origin; mavlink_msg_set_gps_global_origin_decode(msg, &gps_global_origin); if (gps_global_origin.target_system == _mavlink.get_system_id()) { vehicle_command_s vcmd{}; vcmd.param5 = (double)gps_global_origin.latitude * 1.e-7; vcmd.param6 = (double)gps_global_origin.longitude * 1.e-7; vcmd.param7 = (float)gps_global_origin.altitude * 1.e-3f; vcmd.command = vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN; vcmd.target_system = _mavlink.get_system_id(); vcmd.target_component = MAV_COMP_ID_ALL; vcmd.source_system = msg->sysid; vcmd.source_component = msg->compid; vcmd.confirmation = false; vcmd.from_external = true; vcmd.timestamp = hrt_absolute_time(); _cmd_pub.publish(vcmd); } handle_request_message_command(MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN); } #if defined(MAVLINK_MSG_ID_SET_VELOCITY_LIMITS) // For now only defined if development.xml is used void MavlinkReceiver::handle_message_set_velocity_limits(mavlink_message_t *msg) { mavlink_set_velocity_limits_t mavlink_set_velocity_limits; mavlink_msg_set_velocity_limits_decode(msg, &mavlink_set_velocity_limits); velocity_limits_s velocity_limits{}; velocity_limits.horizontal_velocity = mavlink_set_velocity_limits.horizontal_speed_limit; velocity_limits.vertical_velocity = mavlink_set_velocity_limits.vertical_speed_limit; velocity_limits.yaw_rate = mavlink_set_velocity_limits.yaw_rate_limit; velocity_limits.timestamp = hrt_absolute_time(); _velocity_limits_pub.publish(velocity_limits); } #endif // MAVLINK_MSG_ID_SET_VELOCITY_LIMITS void MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) { mavlink_vision_position_estimate_t vpe; mavlink_msg_vision_position_estimate_decode(msg, &vpe); // fill vehicle_odometry from Mavlink VISION_POSITION_ESTIMATE vehicle_odometry_s odom{vehicle_odometry_empty}; odom.timestamp_sample = _mavlink_timesync.sync_stamp(vpe.usec); odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED; odom.position[0] = vpe.x; odom.position[1] = vpe.y; odom.position[2] = vpe.z; const matrix::Quatf q(matrix::Eulerf(vpe.roll, vpe.pitch, vpe.yaw)); q.copyTo(odom.q); // VISION_POSITION_ESTIMATE covariance // Row-major representation of pose 6x6 cross-covariance matrix upper right triangle // (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). // If unknown, assign NaN value to first element in the array. odom.position_variance[0] = vpe.covariance[0]; // X row 0, col 0 odom.position_variance[1] = vpe.covariance[6]; // Y row 1, col 1 odom.position_variance[2] = vpe.covariance[11]; // Z row 2, col 2 odom.orientation_variance[0] = vpe.covariance[15]; // R row 3, col 3 odom.orientation_variance[1] = vpe.covariance[18]; // P row 4, col 4 odom.orientation_variance[2] = vpe.covariance[20]; // Y row 5, col 5 odom.reset_counter = vpe.reset_counter; odom.timestamp = hrt_absolute_time(); _visual_odometry_pub.publish(odom); } void MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg) { mavlink_odometry_t odom_in; mavlink_msg_odometry_decode(msg, &odom_in); // fill vehicle_odometry from Mavlink ODOMETRY vehicle_odometry_s odom{vehicle_odometry_empty}; odom.timestamp_sample = _mavlink_timesync.sync_stamp(odom_in.time_usec); const matrix::Vector3f odom_in_p(odom_in.x, odom_in.y, odom_in.z); // position x/y/z (m) if (odom_in_p.isAllFinite()) { // frame_id: Coordinate frame of reference for the pose data. switch (odom_in.frame_id) { case MAV_FRAME_LOCAL_NED: // NED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth. odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED; odom_in_p.copyTo(odom.position); break; case MAV_FRAME_LOCAL_ENU: // ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth. odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED; odom.position[0] = odom_in.y; // y: North odom.position[1] = odom_in.x; // x: East odom.position[2] = -odom_in.z; // z: Up break; case MAV_FRAME_LOCAL_FRD: // FRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. odom.pose_frame = vehicle_odometry_s::POSE_FRAME_FRD; odom_in_p.copyTo(odom.position); break; case MAV_FRAME_LOCAL_FLU: // FLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. odom.pose_frame = vehicle_odometry_s::POSE_FRAME_FRD; odom.position[0] = odom_in.x; // x: Forward odom.position[1] = -odom_in.y; // y: Left odom.position[2] = -odom_in.z; // z: Up break; default: break; } // pose_covariance // Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw) // first six entries are the first ROW, next five entries are the second ROW, etc. if (odom_in.estimator_type != MAV_ESTIMATOR_TYPE_NAIVE) { switch (odom_in.frame_id) { case MAV_FRAME_LOCAL_NED: case MAV_FRAME_LOCAL_FRD: case MAV_FRAME_LOCAL_FLU: // position variances copied directly odom.position_variance[0] = odom_in.pose_covariance[0]; // X row 0, col 0 odom.position_variance[1] = odom_in.pose_covariance[6]; // Y row 1, col 1 odom.position_variance[2] = odom_in.pose_covariance[11]; // Z row 2, col 2 break; case MAV_FRAME_LOCAL_ENU: // ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth. odom.position_variance[0] = odom_in.pose_covariance[6]; // Y row 1, col 1 odom.position_variance[1] = odom_in.pose_covariance[0]; // X row 0, col 0 odom.position_variance[2] = odom_in.pose_covariance[11]; // Z row 2, col 2 break; default: break; } } } // q: the quaternion of the ODOMETRY msg represents a rotation from body frame to a local frame if (matrix::Quatf(odom_in.q).isAllFinite()) { odom.q[0] = odom_in.q[0]; odom.q[1] = odom_in.q[1]; odom.q[2] = odom_in.q[2]; odom.q[3] = odom_in.q[3]; // pose_covariance (roll, pitch, yaw) // states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc. // TODO: fix pose_covariance for MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FLU if (odom_in.estimator_type != MAV_ESTIMATOR_TYPE_NAIVE) { odom.orientation_variance[0] = odom_in.pose_covariance[15]; // R row 3, col 3 odom.orientation_variance[1] = odom_in.pose_covariance[18]; // P row 4, col 4 odom.orientation_variance[2] = odom_in.pose_covariance[20]; // Y row 5, col 5 } } const matrix::Vector3f odom_in_v(odom_in.vx, odom_in.vy, odom_in.vz); // velocity vx/vy/vz (m/s) if (odom_in_v.isAllFinite()) { // child_frame_id: Coordinate frame of reference for the velocity in free space (twist) data. switch (odom_in.child_frame_id) { case MAV_FRAME_LOCAL_NED: // NED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth. odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_NED; odom_in_v.copyTo(odom.velocity); break; case MAV_FRAME_LOCAL_ENU: // ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth. odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_NED; odom.velocity[0] = odom_in.vy; // y: East odom.velocity[1] = odom_in.vx; // x: North odom.velocity[2] = -odom_in.vz; // z: Up break; case MAV_FRAME_LOCAL_FRD: // FRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_FRD; odom_in_v.copyTo(odom.velocity); break; case MAV_FRAME_LOCAL_FLU: // FLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_FRD; odom.velocity[0] = odom_in.vx; // x: Forward odom.velocity[1] = -odom_in.vy; // y: Left odom.velocity[2] = -odom_in.vz; // z: Up break; case MAV_FRAME_BODY_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08). case MAV_FRAME_BODY_OFFSET_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08). case MAV_FRAME_BODY_FRD: // FRD local tangent frame (x: Forward, y: Right, z: Down) with origin that travels with vehicle. odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_BODY_FRD; odom.velocity[0] = odom_in.vx; odom.velocity[1] = odom_in.vy; odom.velocity[2] = odom_in.vz; break; default: // unsupported child_frame_id break; } // velocity_covariance (vx, vy, vz) // states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc. // TODO: fix velocity_covariance for MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FLU, MAV_FRAME_LOCAL_FLU if (odom_in.estimator_type != MAV_ESTIMATOR_TYPE_NAIVE) { switch (odom_in.child_frame_id) { case MAV_FRAME_LOCAL_NED: case MAV_FRAME_LOCAL_FRD: case MAV_FRAME_LOCAL_FLU: case MAV_FRAME_BODY_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08). case MAV_FRAME_BODY_OFFSET_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08). case MAV_FRAME_BODY_FRD: // velocity covariances copied directly odom.velocity_variance[0] = odom_in.velocity_covariance[0]; // X row 0, col 0 odom.velocity_variance[1] = odom_in.velocity_covariance[6]; // Y row 1, col 1 odom.velocity_variance[2] = odom_in.velocity_covariance[11]; // Z row 2, col 2 break; case MAV_FRAME_LOCAL_ENU: // ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth. odom.velocity_variance[0] = odom_in.velocity_covariance[6]; // Y row 1, col 1 odom.velocity_variance[1] = odom_in.velocity_covariance[0]; // X row 0, col 0 odom.velocity_variance[2] = odom_in.velocity_covariance[11]; // Z row 2, col 2 break; default: // unsupported child_frame_id break; } } } // Roll/Pitch/Yaw angular speed (rad/s) if (PX4_ISFINITE(odom_in.rollspeed) && PX4_ISFINITE(odom_in.pitchspeed) && PX4_ISFINITE(odom_in.yawspeed)) { odom.angular_velocity[0] = odom_in.rollspeed; odom.angular_velocity[1] = odom_in.pitchspeed; odom.angular_velocity[2] = odom_in.yawspeed; } odom.reset_counter = odom_in.reset_counter; odom.quality = odom_in.quality; switch (odom_in.estimator_type) { case MAV_ESTIMATOR_TYPE_UNKNOWN: // accept MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support case MAV_ESTIMATOR_TYPE_NAIVE: case MAV_ESTIMATOR_TYPE_VISION: case MAV_ESTIMATOR_TYPE_VIO: odom.timestamp = hrt_absolute_time(); _visual_odometry_pub.publish(odom); break; case MAV_ESTIMATOR_TYPE_MOCAP: odom.timestamp = hrt_absolute_time(); _mocap_odometry_pub.publish(odom); break; case MAV_ESTIMATOR_TYPE_GPS: case MAV_ESTIMATOR_TYPE_GPS_INS: case MAV_ESTIMATOR_TYPE_LIDAR: case MAV_ESTIMATOR_TYPE_AUTOPILOT: default: mavlink_log_critical(&_mavlink_log_pub, "ODOMETRY: estimator_type %" PRIu8 " unsupported\t", odom_in.estimator_type); events::send(events::ID("mavlink_rcv_odom_unsup_estimator_type"), events::Log::Error, "ODOMETRY: unsupported estimator_type {1}", odom_in.estimator_type); return; } } void MavlinkReceiver::fill_thrust(float *thrust_body_array, uint8_t vehicle_type, float thrust) { // Fill correct field by checking frametype // TODO: add as needed switch (_mavlink.get_system_type()) { case MAV_TYPE_GENERIC: break; case MAV_TYPE_FIXED_WING: case MAV_TYPE_GROUND_ROVER: thrust_body_array[0] = thrust; break; case MAV_TYPE_QUADROTOR: case MAV_TYPE_HEXAROTOR: case MAV_TYPE_OCTOROTOR: case MAV_TYPE_TRICOPTER: case MAV_TYPE_HELICOPTER: case MAV_TYPE_COAXIAL: thrust_body_array[2] = -thrust; break; case MAV_TYPE_SUBMARINE: thrust_body_array[0] = thrust; break; case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR: case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR: case MAV_TYPE_VTOL_TILTROTOR: case MAV_TYPE_VTOL_FIXEDROTOR: case MAV_TYPE_VTOL_TAILSITTER: case MAV_TYPE_VTOL_TILTWING: case MAV_TYPE_VTOL_RESERVED5: switch (vehicle_type) { case vehicle_status_s::VEHICLE_TYPE_FIXED_WING: thrust_body_array[0] = thrust; break; case vehicle_status_s::VEHICLE_TYPE_ROTARY_WING: thrust_body_array[2] = -thrust; break; default: // This should never happen break; } break; } } void MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) { mavlink_set_attitude_target_t attitude_target; mavlink_msg_set_attitude_target_decode(msg, &attitude_target); /* Only accept messages which are intended for this system */ if (_mavlink.get_forward_externalsp() && (mavlink_system.sysid == attitude_target.target_system || attitude_target.target_system == 0) && (mavlink_system.compid == attitude_target.target_component || attitude_target.target_component == 0)) { const uint8_t type_mask = attitude_target.type_mask; const bool attitude = !(type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE); const bool body_rates = !(type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE) && !(type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE); const bool thrust_body = (type_mask & ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SET); vehicle_status_s vehicle_status{}; _vehicle_status_sub.copy(&vehicle_status); if (attitude || body_rates) { offboard_control_mode_s ocm{}; ocm.attitude = attitude; ocm.body_rate = body_rates; ocm.timestamp = hrt_absolute_time(); _offboard_control_mode_pub.publish(ocm); } if (attitude) { vehicle_attitude_setpoint_s attitude_setpoint{}; const matrix::Quatf q{attitude_target.q}; q.copyTo(attitude_setpoint.q_d); // TODO: review use case attitude_setpoint.yaw_sp_move_rate = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ? (float)NAN : attitude_target.body_yaw_rate; if (!thrust_body && !(attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) { fill_thrust(attitude_setpoint.thrust_body, vehicle_status.vehicle_type, attitude_target.thrust); } else if (thrust_body) { attitude_setpoint.thrust_body[0] = attitude_target.thrust_body[0]; attitude_setpoint.thrust_body[1] = attitude_target.thrust_body[1]; attitude_setpoint.thrust_body[2] = attitude_target.thrust_body[2]; } // Publish attitude setpoint only once in OFFBOARD if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) { attitude_setpoint.timestamp = hrt_absolute_time(); if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)) { _mc_virtual_att_sp_pub.publish(attitude_setpoint); } else if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) { _fw_virtual_att_sp_pub.publish(attitude_setpoint); } else { _att_sp_pub.publish(attitude_setpoint); } } } if (body_rates) { vehicle_rates_setpoint_s setpoint{}; setpoint.roll = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE) ? (float)NAN : attitude_target.body_roll_rate; setpoint.pitch = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE) ? (float)NAN : attitude_target.body_pitch_rate; setpoint.yaw = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ? (float)NAN : attitude_target.body_yaw_rate; if (!(attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) { fill_thrust(setpoint.thrust_body, vehicle_status.vehicle_type, attitude_target.thrust); } // Publish rate setpoint only once in OFFBOARD if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) { setpoint.timestamp = hrt_absolute_time(); _rates_sp_pub.publish(setpoint); } } } } void MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) { /* telemetry status supported only on first ORB_MULTI_MAX_INSTANCES mavlink channels */ if (_mavlink.get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) { mavlink_radio_status_t rstatus; mavlink_msg_radio_status_decode(msg, &rstatus); radio_status_s status{}; status.timestamp = hrt_absolute_time(); status.rssi = rstatus.rssi; status.remote_rssi = rstatus.remrssi; status.txbuf = rstatus.txbuf; status.noise = rstatus.noise; status.remote_noise = rstatus.remnoise; status.rxerrors = rstatus.rxerrors; status.fix = rstatus.fixed; _mavlink.update_radio_status(status); _radio_status_pub.publish(status); } } void MavlinkReceiver::handle_message_ping(mavlink_message_t *msg) { mavlink_ping_t ping; mavlink_msg_ping_decode(msg, &ping); if ((ping.target_system == 0) && (ping.target_component == 0)) { // This is a ping request. Return it to the system which requested the ping. ping.target_system = msg->sysid; ping.target_component = msg->compid; mavlink_msg_ping_send_struct(_mavlink.get_channel(), &ping); } else if ((ping.target_system == mavlink_system.sysid) && (ping.target_component == mavlink_system.compid)) { // This is a returned ping message from this system. Calculate latency from it. const hrt_abstime now = hrt_absolute_time(); // Calculate round trip time float rtt_ms = (now - ping.time_usec) / 1000.0f; // Update ping statistics struct Mavlink::ping_statistics_s &pstats = _mavlink.get_ping_statistics(); pstats.last_ping_time = now; if (pstats.last_ping_seq == 0 && ping.seq > 0) { // This is the first reply we are receiving from an offboard system. // We may have been broadcasting pings for some time before it came online, // and these do not count as dropped packets. // Reset last_ping_seq counter for correct packet drop detection pstats.last_ping_seq = ping.seq - 1; } // We can only count dropped packets after the first message if (ping.seq > pstats.last_ping_seq) { pstats.dropped_packets += ping.seq - pstats.last_ping_seq - 1; } pstats.last_ping_seq = ping.seq; pstats.last_rtt = rtt_ms; pstats.mean_rtt = (rtt_ms + pstats.mean_rtt) / 2.0f; pstats.max_rtt = fmaxf(rtt_ms, pstats.max_rtt); pstats.min_rtt = pstats.min_rtt > 0.0f ? fminf(rtt_ms, pstats.min_rtt) : rtt_ms; /* Ping status is supported only on first ORB_MULTI_MAX_INSTANCES mavlink channels */ if (_mavlink.get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) { ping_s uorb_ping_msg{}; uorb_ping_msg.timestamp = now; uorb_ping_msg.ping_time = ping.time_usec; uorb_ping_msg.ping_sequence = ping.seq; uorb_ping_msg.dropped_packets = pstats.dropped_packets; uorb_ping_msg.rtt_ms = rtt_ms; uorb_ping_msg.system_id = msg->sysid; uorb_ping_msg.component_id = msg->compid; _ping_pub.publish(uorb_ping_msg); } } } void MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg) { if ((msg->sysid != mavlink_system.sysid) || (msg->compid == mavlink_system.compid)) { // ignore battery status coming from other systems or from the autopilot itself return; } // external battery measurements mavlink_battery_status_t battery_mavlink; mavlink_msg_battery_status_decode(msg, &battery_mavlink); battery_status_s battery_status{}; battery_status.timestamp = hrt_absolute_time(); float voltage_sum = 0.0f; uint8_t cell_count = 0; while ((cell_count < 10) && (battery_mavlink.voltages[cell_count] < UINT16_MAX)) { battery_status.voltage_cell_v[cell_count] = (float)(battery_mavlink.voltages[cell_count]) / 1000.0f; voltage_sum += battery_status.voltage_cell_v[cell_count]; cell_count++; } battery_status.voltage_v = voltage_sum; battery_status.current_a = (float)(battery_mavlink.current_battery) / 100.0f; battery_status.remaining = (float)battery_mavlink.battery_remaining / 100.0f; battery_status.discharged_mah = (float)battery_mavlink.current_consumed; battery_status.cell_count = cell_count; battery_status.temperature = (float)battery_mavlink.temperature; battery_status.connected = true; // Set the battery warning based on remaining charge. // Note: Smallest values must come first in evaluation. if (battery_status.remaining < _param_bat_emergen_thr.get()) { battery_status.warning = battery_status_s::BATTERY_WARNING_EMERGENCY; } else if (battery_status.remaining < _param_bat_crit_thr.get()) { battery_status.warning = battery_status_s::BATTERY_WARNING_CRITICAL; } else if (battery_status.remaining < _param_bat_low_thr.get()) { battery_status.warning = battery_status_s::BATTERY_WARNING_LOW; } _battery_pub.publish(battery_status); } void MavlinkReceiver::handle_message_serial_control(mavlink_message_t *msg) { mavlink_serial_control_t serial_control_mavlink; mavlink_msg_serial_control_decode(msg, &serial_control_mavlink); // Check if the message is targeted at us. if ((serial_control_mavlink.target_system != 0 && mavlink_system.sysid != serial_control_mavlink.target_system) || (serial_control_mavlink.target_component != 0 && mavlink_system.compid != serial_control_mavlink.target_component)) { return; } // we only support shell commands if (serial_control_mavlink.device != SERIAL_CONTROL_DEV_SHELL || (serial_control_mavlink.flags & SERIAL_CONTROL_FLAG_REPLY)) { return; } MavlinkShell *shell = _mavlink.get_shell(); if (shell) { // we ignore the timeout, EXCLUSIVE & BLOCKING flags of the SERIAL_CONTROL message if (serial_control_mavlink.count > 0 && serial_control_mavlink.count <= sizeof(serial_control_mavlink.data)) { shell->setTargetID(msg->sysid, msg->compid); shell->write(serial_control_mavlink.data, serial_control_mavlink.count); } // if no response requested, assume the shell is no longer used if ((serial_control_mavlink.flags & SERIAL_CONTROL_FLAG_RESPOND) == 0) { _mavlink.close_shell(); } } } void MavlinkReceiver::handle_message_logging_ack(mavlink_message_t *msg) { mavlink_logging_ack_t logging_ack; mavlink_msg_logging_ack_decode(msg, &logging_ack); MavlinkULog *ulog_streaming = _mavlink.get_ulog_streaming(); if (ulog_streaming) { ulog_streaming->handle_ack(logging_ack); } } void MavlinkReceiver::handle_message_play_tune(mavlink_message_t *msg) { mavlink_play_tune_t play_tune; mavlink_msg_play_tune_decode(msg, &play_tune); if ((mavlink_system.sysid == play_tune.target_system || play_tune.target_system == 0) && (mavlink_system.compid == play_tune.target_component || play_tune.target_component == 0)) { // Let's make sure the input is 0 terminated, so we don't ever overrun it. play_tune.tune2[sizeof(play_tune.tune2) - 1] = '\0'; schedule_tune(play_tune.tune); } } void MavlinkReceiver::handle_message_play_tune_v2(mavlink_message_t *msg) { mavlink_play_tune_v2_t play_tune_v2; mavlink_msg_play_tune_v2_decode(msg, &play_tune_v2); if ((mavlink_system.sysid == play_tune_v2.target_system || play_tune_v2.target_system == 0) && (mavlink_system.compid == play_tune_v2.target_component || play_tune_v2.target_component == 0)) { if (play_tune_v2.format != TUNE_FORMAT_QBASIC1_1) { PX4_ERR("Tune format %" PRIu32 " not supported", play_tune_v2.format); return; } // Let's make sure the input is 0 terminated, so we don't ever overrun it. play_tune_v2.tune[sizeof(play_tune_v2.tune) - 1] = '\0'; schedule_tune(play_tune_v2.tune); } } void MavlinkReceiver::schedule_tune(const char *tune) { // We only allocate the TunePublisher object if we ever use it but we // don't remove it to avoid fragmentation over time. if (_tune_publisher == nullptr) { _tune_publisher = new TunePublisher(); if (_tune_publisher == nullptr) { PX4_ERR("Could not allocate tune publisher"); return; } } const hrt_abstime now = hrt_absolute_time(); _tune_publisher->set_tune_string(tune, now); // Send first one straightaway. _tune_publisher->publish_next_tune(now); } void MavlinkReceiver::handle_message_obstacle_distance(mavlink_message_t *msg) { mavlink_obstacle_distance_t mavlink_obstacle_distance; mavlink_msg_obstacle_distance_decode(msg, &mavlink_obstacle_distance); obstacle_distance_s obstacle_distance{}; obstacle_distance.timestamp = hrt_absolute_time(); obstacle_distance.sensor_type = mavlink_obstacle_distance.sensor_type; memcpy(obstacle_distance.distances, mavlink_obstacle_distance.distances, sizeof(obstacle_distance.distances)); if (mavlink_obstacle_distance.increment_f > 0.f) { obstacle_distance.increment = mavlink_obstacle_distance.increment_f; } else { obstacle_distance.increment = (float)mavlink_obstacle_distance.increment; } obstacle_distance.min_distance = mavlink_obstacle_distance.min_distance; obstacle_distance.max_distance = mavlink_obstacle_distance.max_distance; obstacle_distance.angle_offset = mavlink_obstacle_distance.angle_offset; obstacle_distance.frame = mavlink_obstacle_distance.frame; _obstacle_distance_pub.publish(obstacle_distance); } void MavlinkReceiver::handle_message_tunnel(mavlink_message_t *msg) { mavlink_tunnel_t mavlink_tunnel; mavlink_msg_tunnel_decode(msg, &mavlink_tunnel); mavlink_tunnel_s tunnel{}; tunnel.timestamp = hrt_absolute_time(); tunnel.payload_type = mavlink_tunnel.payload_type; tunnel.target_system = mavlink_tunnel.target_system; tunnel.target_component = mavlink_tunnel.target_component; tunnel.payload_length = mavlink_tunnel.payload_length; memcpy(tunnel.payload, mavlink_tunnel.payload, sizeof(tunnel.payload)); static_assert(sizeof(tunnel.payload) == sizeof(mavlink_tunnel.payload), "mavlink_tunnel.payload size mismatch"); _mavlink_tunnel_pub.publish(tunnel); } void MavlinkReceiver::handle_message_trajectory_representation_bezier(mavlink_message_t *msg) { mavlink_trajectory_representation_bezier_t trajectory; mavlink_msg_trajectory_representation_bezier_decode(msg, &trajectory); vehicle_trajectory_bezier_s trajectory_bezier{}; trajectory_bezier.timestamp = _mavlink_timesync.sync_stamp(trajectory.time_usec); for (int i = 0; i < vehicle_trajectory_bezier_s::NUMBER_POINTS; ++i) { trajectory_bezier.control_points[i].position[0] = trajectory.pos_x[i]; trajectory_bezier.control_points[i].position[1] = trajectory.pos_y[i]; trajectory_bezier.control_points[i].position[2] = trajectory.pos_z[i]; trajectory_bezier.control_points[i].delta = trajectory.delta[i]; trajectory_bezier.control_points[i].yaw = trajectory.pos_yaw[i]; } trajectory_bezier.bezier_order = math::min(trajectory.valid_points, vehicle_trajectory_bezier_s::NUMBER_POINTS); _trajectory_bezier_pub.publish(trajectory_bezier); } void MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_message_t *msg) { mavlink_trajectory_representation_waypoints_t trajectory; mavlink_msg_trajectory_representation_waypoints_decode(msg, &trajectory); vehicle_trajectory_waypoint_s trajectory_waypoint{}; const int number_valid_points = math::min(trajectory.valid_points, vehicle_trajectory_waypoint_s::NUMBER_POINTS); for (int i = 0; i < number_valid_points; ++i) { trajectory_waypoint.waypoints[i].position[0] = trajectory.pos_x[i]; trajectory_waypoint.waypoints[i].position[1] = trajectory.pos_y[i]; trajectory_waypoint.waypoints[i].position[2] = trajectory.pos_z[i]; trajectory_waypoint.waypoints[i].velocity[0] = trajectory.vel_x[i]; trajectory_waypoint.waypoints[i].velocity[1] = trajectory.vel_y[i]; trajectory_waypoint.waypoints[i].velocity[2] = trajectory.vel_z[i]; trajectory_waypoint.waypoints[i].acceleration[0] = trajectory.acc_x[i]; trajectory_waypoint.waypoints[i].acceleration[1] = trajectory.acc_y[i]; trajectory_waypoint.waypoints[i].acceleration[2] = trajectory.acc_z[i]; trajectory_waypoint.waypoints[i].yaw = trajectory.pos_yaw[i]; trajectory_waypoint.waypoints[i].yaw_speed = trajectory.vel_yaw[i]; trajectory_waypoint.waypoints[i].point_valid = true; trajectory_waypoint.waypoints[i].type = UINT8_MAX; } trajectory_waypoint.timestamp = hrt_absolute_time(); _trajectory_waypoint_pub.publish(trajectory_waypoint); } void MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg) { mavlink_rc_channels_override_t man; mavlink_msg_rc_channels_override_decode(msg, &man); // Check target if (man.target_system != 0 && man.target_system != _mavlink.get_system_id()) { return; } // fill uORB message input_rc_s rc{}; // metadata rc.timestamp = rc.timestamp_last_signal = hrt_absolute_time(); rc.rssi = input_rc_s::RSSI_MAX; rc.rc_failsafe = false; rc.rc_lost = false; rc.rc_lost_frame_count = 0; rc.rc_total_frame_count = 1; rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK; // channels rc.values[0] = man.chan1_raw; rc.values[1] = man.chan2_raw; rc.values[2] = man.chan3_raw; rc.values[3] = man.chan4_raw; rc.values[4] = man.chan5_raw; rc.values[5] = man.chan6_raw; rc.values[6] = man.chan7_raw; rc.values[7] = man.chan8_raw; rc.values[8] = man.chan9_raw; rc.values[9] = man.chan10_raw; rc.values[10] = man.chan11_raw; rc.values[11] = man.chan12_raw; rc.values[12] = man.chan13_raw; rc.values[13] = man.chan14_raw; rc.values[14] = man.chan15_raw; rc.values[15] = man.chan16_raw; rc.values[16] = man.chan17_raw; rc.values[17] = man.chan18_raw; #if defined(ATL_MANTIS_RC_INPUT_HACKS) // Sanity checking if the RC controller is really sending. if (rc.values[5] == 2048 && rc.values[6] == 0 && (rc.values[8] & 0xff00) == 0x0C00) { rc.values[0] = 1000 + (uint16_t)((float)rc.values[0] / 4095.f * 1000.f); // 0..4095 -> 1000..2000 rc.values[1] = 1000 + (uint16_t)((float)rc.values[1] / 4095.f * 1000.f); // 0..4095 -> 1000..2000 rc.values[2] = 1000 + (uint16_t)((float)rc.values[2] / 4095.f * 1000.f); // 0..4095 -> 1000..2000 rc.values[3] = 1000 + (uint16_t)((float)rc.values[3] / 4095.f * 1000.f); // 0..4095 -> 1000..2000 rc.values[4] = 1000 + (uint16_t)((float)rc.values[4] / 4095.f * 1000.f); // 0..4095 -> 1000..2000 -> Aux 2 rc.values[5] = 1000 + rc.values[7] * 500; // Switch toggles from 0 to 2, we map it from 1000 to 2000 rc.values[6] = 1000 + (((rc.values[8] & 0x02) != 0) ? 1000 : 0); // Return button. rc.values[7] = 1000 + (((rc.values[8] & 0x01) != 0) ? 1000 : 0); // Video record button. -> Aux4 rc.values[9] = 1000 + (((rc.values[8] & 0x10) != 0) ? 1000 : 0); // Photo record button. -> Aux3 rc.values[8] = rc.values[8] & 0x00ff; // Remove magic identifier. // leave rc.values[10] as is 0..4095 // // Note we are currently ignoring the stick buttons (sticks pressed down). // They are on rc.values[8] & 0x20 and rc.values[8] & 0x40. } #endif // check how many channels are valid for (int i = 17; i >= 0; i--) { const bool ignore_max = rc.values[i] == UINT16_MAX; // ignore any channel with value UINT16_MAX const bool ignore_zero = (i > 7) && (rc.values[i] == 0); // ignore channel 8-18 if value is 0 if (ignore_max || ignore_zero) { // set all ignored values to zero rc.values[i] = 0; } else { // first channel to not ignore -> set count considering zero-based index rc.channel_count = i + 1; break; } } rc.link_quality = -1; rc.rssi_dbm = NAN; // publish uORB message _rc_pub.publish(rc); } void MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) { mavlink_manual_control_t mavlink_manual_control; mavlink_msg_manual_control_decode(msg, &mavlink_manual_control); // Check target if (mavlink_manual_control.target != 0 && mavlink_manual_control.target != _mavlink.get_system_id()) { return; } manual_control_setpoint_s manual_control_setpoint{}; manual_control_setpoint.pitch = mavlink_manual_control.x / 1000.f; manual_control_setpoint.roll = mavlink_manual_control.y / 1000.f; // For backwards compatibility at the moment interpret throttle in range [0,1000] manual_control_setpoint.throttle = ((mavlink_manual_control.z / 1000.f) * 2.f) - 1.f; manual_control_setpoint.yaw = mavlink_manual_control.r / 1000.f; // Pass along the button states manual_control_setpoint.buttons = mavlink_manual_control.buttons; if (mavlink_manual_control.enabled_extensions & (1u << 2)) { manual_control_setpoint.aux1 = mavlink_manual_control.aux1 / 1000.0f; } if (mavlink_manual_control.enabled_extensions & (1u << 3)) { manual_control_setpoint.aux2 = mavlink_manual_control.aux2 / 1000.0f; } if (mavlink_manual_control.enabled_extensions & (1u << 4)) { manual_control_setpoint.aux3 = mavlink_manual_control.aux3 / 1000.0f; } if (mavlink_manual_control.enabled_extensions & (1u << 5)) { manual_control_setpoint.aux4 = mavlink_manual_control.aux4 / 1000.0f; } if (mavlink_manual_control.enabled_extensions & (1u << 6)) { manual_control_setpoint.aux5 = mavlink_manual_control.aux5 / 1000.0f; } if (mavlink_manual_control.enabled_extensions & (1u << 7)) { manual_control_setpoint.aux6 = mavlink_manual_control.aux6 / 1000.0f; } manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink.get_instance_id(); manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time(); manual_control_setpoint.valid = true; _manual_control_input_pub.publish(manual_control_setpoint); } 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() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) { const hrt_abstime now = hrt_absolute_time(); mavlink_heartbeat_t hb; mavlink_msg_heartbeat_decode(msg, &hb); const bool same_system = (msg->sysid == mavlink_system.sysid); if (same_system || hb.type == MAV_TYPE_GCS) { camera_status_s camera_status{}; switch (hb.type) { case MAV_TYPE_ANTENNA_TRACKER: _heartbeat_type_antenna_tracker = now; break; case MAV_TYPE_GCS: _heartbeat_type_gcs = now; break; case MAV_TYPE_ONBOARD_CONTROLLER: _heartbeat_type_onboard_controller = now; break; case MAV_TYPE_GIMBAL: _heartbeat_type_gimbal = now; break; case MAV_TYPE_ADSB: _heartbeat_type_adsb = now; break; case MAV_TYPE_CAMERA: _heartbeat_type_camera = now; camera_status.timestamp = now; camera_status.active_comp_id = msg->compid; camera_status.active_sys_id = msg->sysid; _camera_status_pub.publish(camera_status); break; case MAV_TYPE_PARACHUTE: _heartbeat_type_parachute = now; _mavlink.telemetry_status().parachute_system_healthy = (hb.system_status == MAV_STATE_STANDBY) || (hb.system_status == MAV_STATE_ACTIVE); break; case MAV_TYPE_ODID: _heartbeat_type_open_drone_id = now; _mavlink.telemetry_status().open_drone_id_system_healthy = (hb.system_status == MAV_STATE_STANDBY) || (hb.system_status == MAV_STATE_ACTIVE); break; default: PX4_DEBUG("unhandled HEARTBEAT MAV_TYPE: %" PRIu8 " from SYSID: %" PRIu8 ", COMPID: %" PRIu8, hb.type, msg->sysid, msg->compid); } switch (msg->compid) { case MAV_COMP_ID_TELEMETRY_RADIO: _heartbeat_component_telemetry_radio = now; break; case MAV_COMP_ID_LOG: _heartbeat_component_log = now; break; case MAV_COMP_ID_OSD: _heartbeat_component_osd = now; break; case MAV_COMP_ID_OBSTACLE_AVOIDANCE: _heartbeat_component_obstacle_avoidance = now; _mavlink.telemetry_status().avoidance_system_healthy = (hb.system_status == MAV_STATE_ACTIVE); break; case MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY: _heartbeat_component_visual_inertial_odometry = now; break; case MAV_COMP_ID_PAIRING_MANAGER: _heartbeat_component_pairing_manager = now; break; case MAV_COMP_ID_UDP_BRIDGE: _heartbeat_component_udp_bridge = now; break; case MAV_COMP_ID_UART_BRIDGE: _heartbeat_component_uart_bridge = now; break; default: PX4_DEBUG("unhandled HEARTBEAT MAV_TYPE: %" PRIu8 " from SYSID: %" PRIu8 ", COMPID: %" PRIu8, hb.type, msg->sysid, msg->compid); } CheckHeartbeats(now, true); } } } int MavlinkReceiver::set_message_interval(int msgId, float interval, int data_rate) { if (msgId == MAVLINK_MSG_ID_HEARTBEAT) { return PX4_ERROR; } if (data_rate > 0) { _mavlink.set_data_rate(data_rate); } // configure_stream wants a rate (msgs/second), so convert here. float rate = 0.f; if (interval < -0.00001f) { rate = 0.f; // stop the stream } else if (interval > 0.00001f) { rate = 1000000.0f / interval; } else { rate = -2.f; // set default rate } bool found_id = false; if (msgId != 0) { const char *stream_name = get_stream_name(msgId); if (stream_name != nullptr) { _mavlink.configure_stream_threadsafe(stream_name, rate); found_id = true; } } return (found_id ? PX4_OK : PX4_ERROR); } void MavlinkReceiver::get_message_interval(int msgId) { unsigned interval = 0; for (const auto &stream : _mavlink.get_streams()) { if (stream->get_id() == msgId) { interval = stream->get_interval(); break; } } // send back this value... mavlink_msg_message_interval_send(_mavlink.get_channel(), msgId, interval); } void MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) { mavlink_hil_sensor_t hil_sensor; mavlink_msg_hil_sensor_decode(msg, &hil_sensor); const uint64_t timestamp = hrt_absolute_time(); // temperature only updated with baro float temperature = NAN; if ((hil_sensor.fields_updated & SensorSource::BARO) == SensorSource::BARO) { temperature = hil_sensor.temperature; } // gyro if ((hil_sensor.fields_updated & SensorSource::GYRO) == SensorSource::GYRO) { if (_px4_gyro == nullptr) { // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION _px4_gyro = new PX4Gyroscope(1310988); } if (_px4_gyro != nullptr) { if (PX4_ISFINITE(temperature)) { _px4_gyro->set_temperature(temperature); } _px4_gyro->update(timestamp, hil_sensor.xgyro, hil_sensor.ygyro, hil_sensor.zgyro); } } // accelerometer if ((hil_sensor.fields_updated & SensorSource::ACCEL) == SensorSource::ACCEL) { if (_px4_accel == nullptr) { // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION _px4_accel = new PX4Accelerometer(1310988); } if (_px4_accel != nullptr) { if (PX4_ISFINITE(temperature)) { _px4_accel->set_temperature(temperature); } _px4_accel->update(timestamp, hil_sensor.xacc, hil_sensor.yacc, hil_sensor.zacc); } } // magnetometer if ((hil_sensor.fields_updated & SensorSource::MAG) == SensorSource::MAG) { if (_px4_mag == nullptr) { // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION _px4_mag = new PX4Magnetometer(197388); } if (_px4_mag != nullptr) { if (PX4_ISFINITE(temperature)) { _px4_mag->set_temperature(temperature); } _px4_mag->update(timestamp, hil_sensor.xmag, hil_sensor.ymag, hil_sensor.zmag); } } // baro if ((hil_sensor.fields_updated & SensorSource::BARO) == SensorSource::BARO) { // publish sensor_baro_s sensor_baro{}; sensor_baro.timestamp_sample = timestamp; sensor_baro.device_id = 6620172; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION sensor_baro.pressure = hil_sensor.abs_pressure * 100.0f; // hPa to Pa sensor_baro.temperature = hil_sensor.temperature; sensor_baro.error_count = 0; sensor_baro.timestamp = hrt_absolute_time(); _sensor_baro_pub.publish(sensor_baro); } // differential pressure if ((hil_sensor.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS) { differential_pressure_s report{}; report.timestamp_sample = timestamp; report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION report.temperature = hil_sensor.temperature; report.differential_pressure_pa = hil_sensor.diff_pressure * 100.0f; // hPa to Pa report.timestamp = hrt_absolute_time(); _differential_pressure_pub.publish(report); } // battery status { battery_status_s hil_battery_status{}; hil_battery_status.timestamp = timestamp; hil_battery_status.voltage_v = 16.0f; hil_battery_status.current_a = 10.0f; hil_battery_status.discharged_mah = -1.0f; hil_battery_status.connected = true; hil_battery_status.remaining = 0.70; hil_battery_status.time_remaining_s = NAN; _battery_pub.publish(hil_battery_status); } } void MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) { mavlink_hil_gps_t hil_gps; mavlink_msg_hil_gps_decode(msg, &hil_gps); sensor_gps_s gps{}; device::Device::DeviceId device_id; device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; device_id.devid_s.bus = _mavlink.get_instance_id(); device_id.devid_s.address = msg->sysid; device_id.devid_s.devtype = DRV_GPS_DEVTYPE_SIM; gps.device_id = device_id.devid; gps.latitude_deg = hil_gps.lat * 1e-7; gps.longitude_deg = hil_gps.lon * 1e-7; gps.altitude_msl_m = hil_gps.alt * 1e-3; gps.altitude_ellipsoid_m = hil_gps.alt * 1e-3; gps.s_variance_m_s = 0.25f; gps.c_variance_rad = 0.5f; gps.fix_type = hil_gps.fix_type; gps.eph = (float)hil_gps.eph * 1e-2f; // cm -> m gps.epv = (float)hil_gps.epv * 1e-2f; // cm -> m gps.hdop = 0; // TODO gps.vdop = 0; // TODO gps.noise_per_ms = 0; gps.automatic_gain_control = 0; gps.jamming_indicator = 0; gps.jamming_state = 0; gps.spoofing_state = 0; gps.vel_m_s = (float)(hil_gps.vel) / 100.0f; // cm/s -> m/s gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f; // cm/s -> m/s gps.vel_e_m_s = (float)(hil_gps.ve) / 100.0f; // cm/s -> m/s gps.vel_d_m_s = (float)(hil_gps.vd) / 100.0f; // cm/s -> m/s gps.cog_rad = ((hil_gps.cog == 65535) ? (float)NAN : matrix::wrap_2pi(math::radians( hil_gps.cog * 1e-2f))); // cdeg -> rad gps.vel_ned_valid = true; gps.timestamp_time_relative = 0; gps.time_utc_usec = hil_gps.time_usec; gps.satellites_used = hil_gps.satellites_visible; gps.heading = NAN; gps.heading_offset = NAN; gps.timestamp = hrt_absolute_time(); _sensor_gps_pub.publish(gps); } void MavlinkReceiver::handle_message_follow_target(mavlink_message_t *msg) { mavlink_follow_target_t follow_target_msg; mavlink_msg_follow_target_decode(msg, &follow_target_msg); follow_target_s follow_target_topic{}; follow_target_topic.timestamp = hrt_absolute_time(); follow_target_topic.lat = follow_target_msg.lat * 1e-7; follow_target_topic.lon = follow_target_msg.lon * 1e-7; follow_target_topic.alt = follow_target_msg.alt; follow_target_topic.vx = follow_target_msg.vel[0]; follow_target_topic.vy = follow_target_msg.vel[1]; follow_target_topic.vz = follow_target_msg.vel[2]; _follow_target_pub.publish(follow_target_topic); } void MavlinkReceiver::handle_message_landing_target(mavlink_message_t *msg) { mavlink_landing_target_t landing_target; mavlink_msg_landing_target_decode(msg, &landing_target); if (landing_target.position_valid && landing_target.frame == MAV_FRAME_LOCAL_NED) { landing_target_pose_s landing_target_pose{}; landing_target_pose.timestamp = _mavlink_timesync.sync_stamp(landing_target.time_usec); landing_target_pose.abs_pos_valid = true; landing_target_pose.x_abs = landing_target.x; landing_target_pose.y_abs = landing_target.y; landing_target_pose.z_abs = landing_target.z; _landing_target_pose_pub.publish(landing_target_pose); } else if (landing_target.position_valid) { // We only support MAV_FRAME_LOCAL_NED. In this case, the frame was unsupported. mavlink_log_critical(&_mavlink_log_pub, "Landing target: coordinate frame %" PRIu8 " unsupported\t", landing_target.frame); events::send(events::ID("mavlink_rcv_lnd_target_unsup_coord"), events::Log::Error, "Landing target: unsupported coordinate frame {1}", landing_target.frame); } else { irlock_report_s irlock_report{}; irlock_report.timestamp = hrt_absolute_time(); irlock_report.signature = landing_target.target_num; irlock_report.pos_x = landing_target.angle_x; irlock_report.pos_y = landing_target.angle_y; irlock_report.size_x = landing_target.size_x; irlock_report.size_y = landing_target.size_y; _irlock_report_pub.publish(irlock_report); } } void MavlinkReceiver::handle_message_cellular_status(mavlink_message_t *msg) { mavlink_cellular_status_t status; mavlink_msg_cellular_status_decode(msg, &status); cellular_status_s cellular_status{}; cellular_status.timestamp = hrt_absolute_time(); cellular_status.status = status.status; cellular_status.failure_reason = status.failure_reason; cellular_status.type = status.type; cellular_status.quality = status.quality; cellular_status.mcc = status.mcc; cellular_status.mnc = status.mnc; cellular_status.lac = status.lac; _cellular_status_pub.publish(cellular_status); } void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg) { mavlink_adsb_vehicle_t adsb; mavlink_msg_adsb_vehicle_decode(msg, &adsb); transponder_report_s t{}; t.timestamp = hrt_absolute_time(); t.icao_address = adsb.ICAO_address; t.lat = adsb.lat * 1e-7; t.lon = adsb.lon * 1e-7; t.altitude_type = adsb.altitude_type; t.altitude = adsb.altitude / 1000.0f; t.heading = adsb.heading / 100.0f / 180.0f * M_PI_F - M_PI_F; t.hor_velocity = adsb.hor_velocity / 100.0f; t.ver_velocity = adsb.ver_velocity / 100.0f; memcpy(&t.callsign[0], &adsb.callsign[0], sizeof(t.callsign)); t.emitter_type = adsb.emitter_type; t.tslc = adsb.tslc; t.squawk = adsb.squawk; t.flags = transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE; //Unset in receiver already broadcast its messages if (adsb.flags & ADSB_FLAGS_VALID_COORDS) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS; } if (adsb.flags & ADSB_FLAGS_VALID_ALTITUDE) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE; } if (adsb.flags & ADSB_FLAGS_VALID_HEADING) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING; } if (adsb.flags & ADSB_FLAGS_VALID_VELOCITY) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY; } if (adsb.flags & ADSB_FLAGS_VALID_CALLSIGN) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN; } if (adsb.flags & ADSB_FLAGS_VALID_SQUAWK) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK; } //PX4_INFO("code: %d callsign: %s, vel: %8.4f, tslc: %d", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity, (int)t.tslc); _transponder_report_pub.publish(t); } void MavlinkReceiver::handle_message_collision(mavlink_message_t *msg) { mavlink_collision_t collision; mavlink_msg_collision_decode(msg, &collision); collision_report_s collision_report{}; collision_report.timestamp = hrt_absolute_time(); collision_report.src = collision.src; collision_report.id = collision.id; collision_report.action = collision.action; collision_report.threat_level = collision.threat_level; collision_report.time_to_minimum_delta = collision.time_to_minimum_delta; collision_report.altitude_minimum_delta = collision.altitude_minimum_delta; collision_report.horizontal_minimum_delta = collision.horizontal_minimum_delta; _collision_report_pub.publish(collision_report); } void MavlinkReceiver::handle_message_gps_rtcm_data(mavlink_message_t *msg) { mavlink_gps_rtcm_data_t gps_rtcm_data_msg; mavlink_msg_gps_rtcm_data_decode(msg, &gps_rtcm_data_msg); gps_inject_data_s gps_inject_data_topic{}; gps_inject_data_topic.timestamp = hrt_absolute_time(); gps_inject_data_topic.len = math::min((int)sizeof(gps_rtcm_data_msg.data), (int)sizeof(uint8_t) * gps_rtcm_data_msg.len); gps_inject_data_topic.flags = gps_rtcm_data_msg.flags; memcpy(gps_inject_data_topic.data, gps_rtcm_data_msg.data, math::min((int)sizeof(gps_inject_data_topic.data), (int)sizeof(uint8_t) * gps_inject_data_topic.len)); gps_inject_data_topic.timestamp = hrt_absolute_time(); _gps_inject_data_pub.publish(gps_inject_data_topic); } void MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) { mavlink_hil_state_quaternion_t hil_state; mavlink_msg_hil_state_quaternion_decode(msg, &hil_state); const uint64_t timestamp_sample = hrt_absolute_time(); /* airspeed */ { airspeed_s airspeed{}; airspeed.timestamp_sample = timestamp_sample; airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f; airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f; airspeed.air_temperature_celsius = 15.f; airspeed.timestamp = hrt_absolute_time(); _airspeed_pub.publish(airspeed); } /* attitude */ { vehicle_attitude_s hil_attitude{}; hil_attitude.timestamp_sample = timestamp_sample; matrix::Quatf q(hil_state.attitude_quaternion); q.copyTo(hil_attitude.q); hil_attitude.timestamp = hrt_absolute_time(); _attitude_pub.publish(hil_attitude); } /* global position */ { vehicle_global_position_s hil_global_pos{}; hil_global_pos.timestamp_sample = timestamp_sample; hil_global_pos.lat = hil_state.lat / ((double)1e7); hil_global_pos.lon = hil_state.lon / ((double)1e7); hil_global_pos.alt = hil_state.alt / 1000.0f; hil_global_pos.eph = 2.f; hil_global_pos.epv = 4.f; hil_global_pos.timestamp = hrt_absolute_time(); _global_pos_pub.publish(hil_global_pos); } /* local position */ { const double lat = hil_state.lat * 1e-7; const double lon = hil_state.lon * 1e-7; if (!_global_local_proj_ref.isInitialized() || !PX4_ISFINITE(_global_local_alt0)) { _global_local_proj_ref.initReference(lat, lon); _global_local_alt0 = hil_state.alt / 1000.f; } float x = 0.f; float y = 0.f; _global_local_proj_ref.project(lat, lon, x, y); vehicle_local_position_s hil_local_pos{}; hil_local_pos.timestamp_sample = timestamp_sample; hil_local_pos.ref_timestamp = _global_local_proj_ref.getProjectionReferenceTimestamp(); hil_local_pos.ref_lat = _global_local_proj_ref.getProjectionReferenceLat(); hil_local_pos.ref_lon = _global_local_proj_ref.getProjectionReferenceLon(); hil_local_pos.ref_alt = _global_local_alt0; hil_local_pos.xy_valid = true; hil_local_pos.z_valid = true; hil_local_pos.v_xy_valid = true; hil_local_pos.v_z_valid = true; hil_local_pos.x = x; hil_local_pos.y = y; hil_local_pos.z = _global_local_alt0 - hil_state.alt / 1000.f; hil_local_pos.vx = hil_state.vx / 100.f; hil_local_pos.vy = hil_state.vy / 100.f; hil_local_pos.vz = hil_state.vz / 100.f; matrix::Eulerf euler{matrix::Quatf(hil_state.attitude_quaternion)}; hil_local_pos.heading = euler.psi(); hil_local_pos.heading_good_for_control = PX4_ISFINITE(euler.psi()); hil_local_pos.unaided_heading = NAN; hil_local_pos.xy_global = true; hil_local_pos.z_global = true; hil_local_pos.vxy_max = INFINITY; hil_local_pos.vz_max = INFINITY; hil_local_pos.hagl_min = INFINITY; hil_local_pos.hagl_max = INFINITY; hil_local_pos.timestamp = hrt_absolute_time(); _local_pos_pub.publish(hil_local_pos); } /* accelerometer */ { if (_px4_accel == nullptr) { // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION _px4_accel = new PX4Accelerometer(1310988); if (_px4_accel == nullptr) { PX4_ERR("PX4Accelerometer alloc failed"); } } if (_px4_accel != nullptr) { // accel in mG _px4_accel->set_scale(CONSTANTS_ONE_G / 1000.0f); _px4_accel->update(timestamp_sample, hil_state.xacc, hil_state.yacc, hil_state.zacc); } } /* gyroscope */ { if (_px4_gyro == nullptr) { // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION _px4_gyro = new PX4Gyroscope(1310988); if (_px4_gyro == nullptr) { PX4_ERR("PX4Gyroscope alloc failed"); } } if (_px4_gyro != nullptr) { _px4_gyro->update(timestamp_sample, hil_state.rollspeed, hil_state.pitchspeed, hil_state.yawspeed); } } /* battery status */ { battery_status_s hil_battery_status{}; hil_battery_status.voltage_v = 11.1f; hil_battery_status.current_a = 10.0f; hil_battery_status.discharged_mah = -1.0f; hil_battery_status.timestamp = hrt_absolute_time(); hil_battery_status.time_remaining_s = NAN; _battery_pub.publish(hil_battery_status); } } #if !defined(CONSTRAINED_FLASH) void MavlinkReceiver::handle_message_named_value_float(mavlink_message_t *msg) { mavlink_named_value_float_t debug_msg; mavlink_msg_named_value_float_decode(msg, &debug_msg); debug_key_value_s debug_topic{}; debug_topic.timestamp = hrt_absolute_time(); memcpy(debug_topic.key, debug_msg.name, sizeof(debug_topic.key)); debug_topic.key[sizeof(debug_topic.key) - 1] = '\0'; // enforce null termination debug_topic.value = debug_msg.value; _debug_key_value_pub.publish(debug_topic); } void MavlinkReceiver::handle_message_named_value_int(mavlink_message_t *msg) { mavlink_named_value_int_t debug_msg; mavlink_msg_named_value_int_decode(msg, &debug_msg); debug_key_value_s debug_topic{}; debug_topic.timestamp = hrt_absolute_time(); memcpy(debug_topic.key, debug_msg.name, sizeof(debug_topic.key)); debug_topic.key[sizeof(debug_topic.key) - 1] = '\0'; // enforce null termination debug_topic.value = debug_msg.value; _debug_key_value_pub.publish(debug_topic); } void MavlinkReceiver::handle_message_debug(mavlink_message_t *msg) { mavlink_debug_t debug_msg; mavlink_msg_debug_decode(msg, &debug_msg); debug_value_s debug_topic{}; debug_topic.timestamp = hrt_absolute_time(); debug_topic.ind = debug_msg.ind; debug_topic.value = debug_msg.value; _debug_value_pub.publish(debug_topic); } void MavlinkReceiver::handle_message_debug_vect(mavlink_message_t *msg) { mavlink_debug_vect_t debug_msg; mavlink_msg_debug_vect_decode(msg, &debug_msg); debug_vect_s debug_topic{}; debug_topic.timestamp = hrt_absolute_time(); memcpy(debug_topic.name, debug_msg.name, sizeof(debug_topic.name)); debug_topic.name[sizeof(debug_topic.name) - 1] = '\0'; // enforce null termination debug_topic.x = debug_msg.x; debug_topic.y = debug_msg.y; debug_topic.z = debug_msg.z; _debug_vect_pub.publish(debug_topic); } void MavlinkReceiver::handle_message_debug_float_array(mavlink_message_t *msg) { mavlink_debug_float_array_t debug_msg; mavlink_msg_debug_float_array_decode(msg, &debug_msg); debug_array_s debug_topic{}; debug_topic.timestamp = hrt_absolute_time(); debug_topic.id = debug_msg.array_id; memcpy(debug_topic.name, debug_msg.name, sizeof(debug_topic.name)); debug_topic.name[sizeof(debug_topic.name) - 1] = '\0'; // enforce null termination for (size_t i = 0; i < debug_array_s::ARRAY_SIZE; i++) { debug_topic.data[i] = debug_msg.data[i]; } _debug_array_pub.publish(debug_topic); } #endif // !CONSTRAINED_FLASH void MavlinkReceiver::handle_message_onboard_computer_status(mavlink_message_t *msg) { mavlink_onboard_computer_status_t status_msg; mavlink_msg_onboard_computer_status_decode(msg, &status_msg); onboard_computer_status_s onboard_computer_status_topic{}; onboard_computer_status_topic.timestamp = hrt_absolute_time(); onboard_computer_status_topic.uptime = status_msg.uptime; onboard_computer_status_topic.type = status_msg.type; memcpy(onboard_computer_status_topic.cpu_cores, status_msg.cpu_cores, sizeof(status_msg.cpu_cores)); memcpy(onboard_computer_status_topic.cpu_combined, status_msg.cpu_combined, sizeof(status_msg.cpu_combined)); memcpy(onboard_computer_status_topic.gpu_cores, status_msg.gpu_cores, sizeof(status_msg.gpu_cores)); memcpy(onboard_computer_status_topic.gpu_combined, status_msg.gpu_combined, sizeof(status_msg.gpu_combined)); onboard_computer_status_topic.temperature_board = status_msg.temperature_board; memcpy(onboard_computer_status_topic.temperature_core, status_msg.temperature_core, sizeof(status_msg.temperature_core)); memcpy(onboard_computer_status_topic.fan_speed, status_msg.fan_speed, sizeof(status_msg.fan_speed)); onboard_computer_status_topic.ram_usage = status_msg.ram_usage; onboard_computer_status_topic.ram_total = status_msg.ram_total; memcpy(onboard_computer_status_topic.storage_type, status_msg.storage_type, sizeof(status_msg.storage_type)); memcpy(onboard_computer_status_topic.storage_usage, status_msg.storage_usage, sizeof(status_msg.storage_usage)); memcpy(onboard_computer_status_topic.storage_total, status_msg.storage_total, sizeof(status_msg.storage_total)); memcpy(onboard_computer_status_topic.link_type, status_msg.link_type, sizeof(status_msg.link_type)); memcpy(onboard_computer_status_topic.link_tx_rate, status_msg.link_tx_rate, sizeof(status_msg.link_tx_rate)); memcpy(onboard_computer_status_topic.link_rx_rate, status_msg.link_rx_rate, sizeof(status_msg.link_rx_rate)); memcpy(onboard_computer_status_topic.link_tx_max, status_msg.link_tx_max, sizeof(status_msg.link_tx_max)); memcpy(onboard_computer_status_topic.link_rx_max, status_msg.link_rx_max, sizeof(status_msg.link_rx_max)); _onboard_computer_status_pub.publish(onboard_computer_status_topic); } void MavlinkReceiver::handle_message_generator_status(mavlink_message_t *msg) { mavlink_generator_status_t status_msg; mavlink_msg_generator_status_decode(msg, &status_msg); generator_status_s generator_status{}; generator_status.timestamp = hrt_absolute_time(); generator_status.status = status_msg.status; generator_status.battery_current = status_msg.battery_current; generator_status.load_current = status_msg.load_current; generator_status.power_generated = status_msg.power_generated; generator_status.bus_voltage = status_msg.bus_voltage; generator_status.bat_current_setpoint = status_msg.bat_current_setpoint; generator_status.runtime = status_msg.runtime; generator_status.time_until_maintenance = status_msg.time_until_maintenance; generator_status.generator_speed = status_msg.generator_speed; generator_status.rectifier_temperature = status_msg.rectifier_temperature; generator_status.generator_temperature = status_msg.generator_temperature; _generator_status_pub.publish(generator_status); } void MavlinkReceiver::handle_message_statustext(mavlink_message_t *msg) { if (msg->sysid == mavlink_system.sysid) { // log message from the same system mavlink_statustext_t statustext; mavlink_msg_statustext_decode(msg, &statustext); if (_mavlink_statustext_handler.should_publish_previous(statustext)) { _log_message_pub.publish(_mavlink_statustext_handler.log_message()); } if (_mavlink_statustext_handler.should_publish_current(statustext, hrt_absolute_time())) { _log_message_pub.publish(_mavlink_statustext_handler.log_message()); } } } void MavlinkReceiver::CheckHeartbeats(const hrt_abstime &t, bool force) { // check HEARTBEATs for timeout static constexpr uint64_t TIMEOUT = telemetry_status_s::HEARTBEAT_TIMEOUT_US; if (t <= TIMEOUT) { return; } if ((t >= _last_heartbeat_check + (TIMEOUT / 2)) || force) { telemetry_status_s &tstatus = _mavlink.telemetry_status(); tstatus.heartbeat_type_antenna_tracker = (t <= TIMEOUT + _heartbeat_type_antenna_tracker); tstatus.heartbeat_type_gcs = (t <= TIMEOUT + _heartbeat_type_gcs); tstatus.heartbeat_type_onboard_controller = (t <= TIMEOUT + _heartbeat_type_onboard_controller); tstatus.heartbeat_type_gimbal = (t <= TIMEOUT + _heartbeat_type_gimbal); tstatus.heartbeat_type_adsb = (t <= TIMEOUT + _heartbeat_type_adsb); tstatus.heartbeat_type_camera = (t <= TIMEOUT + _heartbeat_type_camera); tstatus.heartbeat_type_parachute = (t <= TIMEOUT + _heartbeat_type_parachute); tstatus.heartbeat_type_open_drone_id = (t <= TIMEOUT + _heartbeat_type_open_drone_id); tstatus.heartbeat_component_telemetry_radio = (t <= TIMEOUT + _heartbeat_component_telemetry_radio); tstatus.heartbeat_component_log = (t <= TIMEOUT + _heartbeat_component_log); tstatus.heartbeat_component_osd = (t <= TIMEOUT + _heartbeat_component_osd); tstatus.heartbeat_component_obstacle_avoidance = (t <= TIMEOUT + _heartbeat_component_obstacle_avoidance); tstatus.heartbeat_component_vio = (t <= TIMEOUT + _heartbeat_component_visual_inertial_odometry); tstatus.heartbeat_component_pairing_manager = (t <= TIMEOUT + _heartbeat_component_pairing_manager); tstatus.heartbeat_component_udp_bridge = (t <= TIMEOUT + _heartbeat_component_udp_bridge); tstatus.heartbeat_component_uart_bridge = (t <= TIMEOUT + _heartbeat_component_uart_bridge); _mavlink.telemetry_status_updated(); _last_heartbeat_check = t; } } void MavlinkReceiver::handle_message_request_event(mavlink_message_t *msg) { _mavlink.get_events_protocol().handle_request_event(*msg); } void MavlinkReceiver::handle_message_gimbal_manager_set_manual_control(mavlink_message_t *msg) { mavlink_gimbal_manager_set_manual_control_t set_manual_control_msg; mavlink_msg_gimbal_manager_set_manual_control_decode(msg, &set_manual_control_msg); gimbal_manager_set_manual_control_s set_manual_control{}; set_manual_control.timestamp = hrt_absolute_time(); set_manual_control.origin_sysid = msg->sysid; set_manual_control.origin_compid = msg->compid; set_manual_control.target_system = set_manual_control_msg.target_system; set_manual_control.target_component = set_manual_control_msg.target_component; set_manual_control.flags = set_manual_control_msg.flags; set_manual_control.gimbal_device_id = set_manual_control_msg.gimbal_device_id; set_manual_control.pitch = set_manual_control_msg.pitch; set_manual_control.yaw = set_manual_control_msg.yaw; set_manual_control.pitch_rate = set_manual_control_msg.pitch_rate; set_manual_control.yaw_rate = set_manual_control_msg.yaw_rate; _gimbal_manager_set_manual_control_pub.publish(set_manual_control); } void MavlinkReceiver::handle_message_gimbal_manager_set_attitude(mavlink_message_t *msg) { mavlink_gimbal_manager_set_attitude_t set_attitude_msg; mavlink_msg_gimbal_manager_set_attitude_decode(msg, &set_attitude_msg); gimbal_manager_set_attitude_s gimbal_attitude{}; gimbal_attitude.timestamp = hrt_absolute_time(); gimbal_attitude.origin_sysid = msg->sysid; gimbal_attitude.origin_compid = msg->compid; gimbal_attitude.target_system = set_attitude_msg.target_system; gimbal_attitude.target_component = set_attitude_msg.target_component; gimbal_attitude.flags = set_attitude_msg.flags; gimbal_attitude.gimbal_device_id = set_attitude_msg.gimbal_device_id; matrix::Quatf q(set_attitude_msg.q); q.copyTo(gimbal_attitude.q); gimbal_attitude.angular_velocity_x = set_attitude_msg.angular_velocity_x; gimbal_attitude.angular_velocity_y = set_attitude_msg.angular_velocity_y; gimbal_attitude.angular_velocity_z = set_attitude_msg.angular_velocity_z; _gimbal_manager_set_attitude_pub.publish(gimbal_attitude); } void MavlinkReceiver::handle_message_gimbal_device_information(mavlink_message_t *msg) { mavlink_gimbal_device_information_t gimbal_device_info_msg; mavlink_msg_gimbal_device_information_decode(msg, &gimbal_device_info_msg); gimbal_device_information_s gimbal_information{}; gimbal_information.timestamp = hrt_absolute_time(); static_assert(sizeof(gimbal_information.vendor_name) == sizeof(gimbal_device_info_msg.vendor_name), "vendor_name length doesn't match"); static_assert(sizeof(gimbal_information.model_name) == sizeof(gimbal_device_info_msg.model_name), "model_name length doesn't match"); static_assert(sizeof(gimbal_information.custom_name) == sizeof(gimbal_device_info_msg.custom_name), "custom_name length doesn't match"); memcpy(gimbal_information.vendor_name, gimbal_device_info_msg.vendor_name, sizeof(gimbal_information.vendor_name)); memcpy(gimbal_information.model_name, gimbal_device_info_msg.model_name, sizeof(gimbal_information.model_name)); memcpy(gimbal_information.custom_name, gimbal_device_info_msg.custom_name, sizeof(gimbal_information.custom_name)); gimbal_device_info_msg.vendor_name[sizeof(gimbal_device_info_msg.vendor_name) - 1] = '\0'; gimbal_device_info_msg.model_name[sizeof(gimbal_device_info_msg.model_name) - 1] = '\0'; gimbal_device_info_msg.custom_name[sizeof(gimbal_device_info_msg.custom_name) - 1] = '\0'; gimbal_information.firmware_version = gimbal_device_info_msg.firmware_version; gimbal_information.hardware_version = gimbal_device_info_msg.hardware_version; gimbal_information.cap_flags = gimbal_device_info_msg.cap_flags; gimbal_information.custom_cap_flags = gimbal_device_info_msg.custom_cap_flags; gimbal_information.uid = gimbal_device_info_msg.uid; gimbal_information.pitch_max = gimbal_device_info_msg.pitch_max; gimbal_information.pitch_min = gimbal_device_info_msg.pitch_min; gimbal_information.yaw_max = gimbal_device_info_msg.yaw_max; gimbal_information.yaw_min = gimbal_device_info_msg.yaw_min; gimbal_information.gimbal_device_compid = msg->compid; _gimbal_device_information_pub.publish(gimbal_information); } void MavlinkReceiver::handle_message_gimbal_device_attitude_status(mavlink_message_t *msg) { mavlink_gimbal_device_attitude_status_t gimbal_device_attitude_status_msg; mavlink_msg_gimbal_device_attitude_status_decode(msg, &gimbal_device_attitude_status_msg); gimbal_device_attitude_status_s gimbal_attitude_status{}; gimbal_attitude_status.timestamp = hrt_absolute_time(); gimbal_attitude_status.target_system = gimbal_device_attitude_status_msg.target_system; gimbal_attitude_status.target_component = gimbal_device_attitude_status_msg.target_component; gimbal_attitude_status.device_flags = gimbal_device_attitude_status_msg.flags; for (unsigned i = 0; i < 4; ++i) { gimbal_attitude_status.q[i] = gimbal_device_attitude_status_msg.q[i]; } gimbal_attitude_status.angular_velocity_x = gimbal_device_attitude_status_msg.angular_velocity_x; gimbal_attitude_status.angular_velocity_y = gimbal_device_attitude_status_msg.angular_velocity_y; gimbal_attitude_status.angular_velocity_z = gimbal_device_attitude_status_msg.angular_velocity_z; gimbal_attitude_status.failure_flags = gimbal_device_attitude_status_msg.failure_flags; gimbal_attitude_status.received_from_mavlink = true; _gimbal_device_attitude_status_pub.publish(gimbal_attitude_status); } void MavlinkReceiver::handle_message_open_drone_id_operator_id( mavlink_message_t *msg) { mavlink_open_drone_id_operator_id_t odid_module; mavlink_msg_open_drone_id_operator_id_decode(msg, &odid_module); open_drone_id_operator_id_s odid_operator_id{}; memset(&odid_operator_id, 0, sizeof(odid_operator_id)); odid_operator_id.timestamp = hrt_absolute_time(); memcpy(odid_operator_id.id_or_mac, odid_module.id_or_mac, sizeof(odid_operator_id.id_or_mac)); odid_operator_id.operator_id_type = odid_module.operator_id_type; memcpy(odid_operator_id.operator_id, odid_module.operator_id, sizeof(odid_operator_id.operator_id)); _open_drone_id_operator_id_pub.publish(odid_operator_id); } void MavlinkReceiver::run() { /* set thread name */ { char thread_name[17]; snprintf(thread_name, sizeof(thread_name), "mavlink_rcv_if%d", _mavlink.get_instance_id()); px4_prctl(PR_SET_NAME, thread_name, px4_getpid()); } // poll timeout in ms. Also defines the max update frequency of the mission & param manager, etc. const int timeout = 10; #if defined(__PX4_POSIX) /* 1500 is the Wifi MTU, so we make sure to fit a full packet */ uint8_t buf[1600 * 5]; #elif defined(CONFIG_NET) /* 1500 is the Wifi MTU, so we make sure to fit a full packet */ uint8_t buf[1000]; #else /* the serial port buffers internally as well, we just need to fit a small chunk */ uint8_t buf[64]; #endif mavlink_message_t msg; struct pollfd fds[1] = {}; if (_mavlink.get_protocol() == Protocol::SERIAL) { fds[0].fd = _mavlink.get_uart_fd(); fds[0].events = POLLIN; } #if defined(MAVLINK_UDP) struct sockaddr_in srcaddr = {}; socklen_t addrlen = sizeof(srcaddr); if (_mavlink.get_protocol() == Protocol::UDP) { fds[0].fd = _mavlink.get_socket_fd(); fds[0].events = POLLIN; } #endif // MAVLINK_UDP ssize_t nread = 0; hrt_abstime last_send_update = 0; while (!_mavlink.should_exit()) { // check for parameter updates if (_parameter_update_sub.updated()) { // clear update parameter_update_s pupdate; _parameter_update_sub.copy(&pupdate); // update parameters from storage updateParams(); } int ret = poll(&fds[0], 1, timeout); if (ret > 0) { if (_mavlink.get_protocol() == Protocol::SERIAL) { /* non-blocking read. read may return negative values */ nread = ::read(fds[0].fd, buf, sizeof(buf)); if (nread == -1 && errno == ENOTCONN) { // Not connected (can happen for USB) usleep(100000); } } #if defined(MAVLINK_UDP) else if (_mavlink.get_protocol() == Protocol::UDP) { if (fds[0].revents & POLLIN) { nread = recvfrom(_mavlink.get_socket_fd(), buf, sizeof(buf), 0, (struct sockaddr *)&srcaddr, &addrlen); } struct sockaddr_in &srcaddr_last = _mavlink.get_client_source_address(); int localhost = (127 << 24) + 1; if (!_mavlink.get_client_source_initialized()) { // set the address either if localhost or if 3 seconds have passed // this ensures that a GCS running on localhost can get a hold of // the system within the first N seconds hrt_abstime stime = _mavlink.get_start_time(); if ((stime != 0 && (hrt_elapsed_time(&stime) > 3_s)) || (srcaddr_last.sin_addr.s_addr == htonl(localhost))) { srcaddr_last.sin_addr.s_addr = srcaddr.sin_addr.s_addr; srcaddr_last.sin_port = srcaddr.sin_port; _mavlink.set_client_source_initialized(); PX4_INFO("partner IP: %s", inet_ntoa(srcaddr.sin_addr)); } } } // only start accepting messages on UDP once we're sure who we talk to if (_mavlink.get_protocol() != Protocol::UDP || _mavlink.get_client_source_initialized()) { #endif // MAVLINK_UDP /* if read failed, this loop won't execute */ for (ssize_t i = 0; i < nread; i++) { if (mavlink_parse_char(_mavlink.get_channel(), buf[i], &msg, &_status)) { /* check if we received version 2 and request a switch. */ if (!(_mavlink.get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)) { /* this will only switch to proto version 2 if allowed in settings */ _mavlink.set_proto_version(2); } switch (_mavlink.get_mode()) { case Mavlink::MAVLINK_MODE::MAVLINK_MODE_GIMBAL: handle_messages_in_gimbal_mode(msg); break; default: handle_message(&msg); break; } _mavlink.set_has_received_messages(true); // Received first message, unlock wait to transmit '-w' command-line flag update_rx_stats(msg); if (_message_statistics_enabled) { update_message_statistics(msg); } } } /* count received bytes (nread will be -1 on read error) */ if (nread > 0) { _mavlink.count_rxbytes(nread); telemetry_status_s &tstatus = _mavlink.telemetry_status(); tstatus.rx_message_count = _total_received_counter; tstatus.rx_message_lost_count = _total_lost_counter; tstatus.rx_message_lost_rate = static_cast(_total_lost_counter) / static_cast(_total_received_counter); if (_mavlink_status_last_buffer_overrun != _status.buffer_overrun) { tstatus.rx_buffer_overruns++; _mavlink_status_last_buffer_overrun = _status.buffer_overrun; } if (_mavlink_status_last_parse_error != _status.parse_error) { tstatus.rx_parse_errors++; _mavlink_status_last_parse_error = _status.parse_error; } if (_mavlink_status_last_packet_rx_drop_count != _status.packet_rx_drop_count) { tstatus.rx_packet_drop_count++; _mavlink_status_last_packet_rx_drop_count = _status.packet_rx_drop_count; } } #if defined(MAVLINK_UDP) } #endif // MAVLINK_UDP } else if (ret == -1) { usleep(10000); } const hrt_abstime t = hrt_absolute_time(); CheckHeartbeats(t); if (t - last_send_update > timeout * 1000) { _mission_manager.check_active_mission(); _mission_manager.send(); if (_mavlink.get_mode() != Mavlink::MAVLINK_MODE::MAVLINK_MODE_IRIDIUM) { _parameters_manager.send(); } if (_mavlink.ftp_enabled()) { _mavlink_ftp.send(); } _mavlink_log_handler.send(); last_send_update = t; } if (_tune_publisher != nullptr) { _tune_publisher->publish_next_tune(t); } } } bool MavlinkReceiver::component_was_seen(int system_id, int component_id) { // For system broadcast messages return true if at least one component was seen before if (system_id == 0) { return _component_states_count > 0; } for (unsigned i = 0; i < _component_states_count; ++i) { if (_component_states[i].system_id == system_id && (component_id == 0 || _component_states[i].component_id == component_id)) { return true; } } return false; } void MavlinkReceiver::update_rx_stats(const mavlink_message_t &message) { const bool component_states_has_still_space = [this, &message]() { for (unsigned i = 0; i < MAX_REMOTE_COMPONENTS; ++i) { if (_component_states[i].system_id == message.sysid && _component_states[i].component_id == message.compid) { int lost_messages = 0; const uint8_t expected_seq = _component_states[i].last_sequence + 1; // Account for overflow during packet loss if (message.seq < expected_seq) { lost_messages = (message.seq + 255) - expected_seq; } else { lost_messages = message.seq - expected_seq; } _component_states[i].missed_messages += lost_messages; ++_component_states[i].received_messages; _component_states[i].last_sequence = message.seq; // Also update overall stats ++_total_received_counter; _total_lost_counter += lost_messages; return true; } else if (_component_states[i].system_id == 0 && _component_states[i].component_id == 0) { _component_states[i].system_id = message.sysid; _component_states[i].component_id = message.compid; ++_component_states[i].received_messages; _component_states[i].last_sequence = message.seq; _component_states_count = i + 1; // Also update overall stats ++_total_received_counter; return true; } } return false; }(); if (!component_states_has_still_space && !_warned_component_states_full_once) { PX4_WARN("Max remote components of %u used up", MAX_REMOTE_COMPONENTS); _warned_component_states_full_once = true; } } void MavlinkReceiver::update_message_statistics(const mavlink_message_t &message) { #if !defined(CONSTRAINED_FLASH) if (_received_msg_stats == nullptr) { _received_msg_stats = new ReceivedMessageStats[MAX_MSG_STAT_SLOTS]; } if (_received_msg_stats) { const hrt_abstime now_ms = hrt_absolute_time() / 1000; int msg_stats_slot = -1; bool reset_stats = false; // find matching msg id for (int stat_slot = 0; stat_slot < MAX_MSG_STAT_SLOTS; stat_slot++) { if ((_received_msg_stats[stat_slot].msg_id == message.msgid) && (_received_msg_stats[stat_slot].system_id == message.sysid) && (_received_msg_stats[stat_slot].component_id == message.compid)) { msg_stats_slot = stat_slot; break; } } // otherwise find oldest or empty slot if (msg_stats_slot < 0) { uint32_t oldest_slot_time_ms = 0; for (int stat_slot = 0; stat_slot < MAX_MSG_STAT_SLOTS; stat_slot++) { if (_received_msg_stats[stat_slot].last_time_received_ms <= oldest_slot_time_ms) { oldest_slot_time_ms = _received_msg_stats[stat_slot].last_time_received_ms; msg_stats_slot = stat_slot; } } reset_stats = true; } if (msg_stats_slot >= 0) { if (!reset_stats) { if ((_received_msg_stats[msg_stats_slot].last_time_received_ms != 0) && (now_ms > _received_msg_stats[msg_stats_slot].last_time_received_ms)) { float rate = 1000.f / (now_ms - _received_msg_stats[msg_stats_slot].last_time_received_ms); if (PX4_ISFINITE(_received_msg_stats[msg_stats_slot].avg_rate_hz)) { _received_msg_stats[msg_stats_slot].avg_rate_hz = 0.9f * _received_msg_stats[msg_stats_slot].avg_rate_hz + 0.1f * rate; } else { _received_msg_stats[msg_stats_slot].avg_rate_hz = rate; } } else { _received_msg_stats[msg_stats_slot].avg_rate_hz = 0.f; } } else { _received_msg_stats[msg_stats_slot].avg_rate_hz = NAN; } _received_msg_stats[msg_stats_slot].last_time_received_ms = now_ms; _received_msg_stats[msg_stats_slot].msg_id = message.msgid; _received_msg_stats[msg_stats_slot].system_id = message.sysid; _received_msg_stats[msg_stats_slot].component_id = message.compid; } } #endif // !CONSTRAINED_FLASH } void MavlinkReceiver::print_detailed_rx_stats() const { // TODO: add mutex around shared data. if (_component_states_count > 0) { printf("\tReceived Messages:\n"); for (const auto &comp_stat : _component_states) { if (comp_stat.received_messages > 0) { printf("\t sysid:%3" PRIu8 ", compid:%3" PRIu8 ", Total: %" PRIu32 " (lost: %" PRIu32 ")\n", comp_stat.system_id, comp_stat.component_id, comp_stat.received_messages, comp_stat.missed_messages); #if !defined(CONSTRAINED_FLASH) if (_message_statistics_enabled && _received_msg_stats) { for (int i = 0; i < MAX_MSG_STAT_SLOTS; i++) { const ReceivedMessageStats &msg_stat = _received_msg_stats[i]; const uint32_t now_ms = hrt_absolute_time() / 1000; // valid messages received within the last 10 seconds if ((msg_stat.system_id == comp_stat.system_id) && (msg_stat.component_id == comp_stat.component_id) && (msg_stat.last_time_received_ms != 0) && (now_ms - msg_stat.last_time_received_ms < 10'000)) { const float elapsed_s = (now_ms - msg_stat.last_time_received_ms) / 1000.f; printf("\t msgid:%5" PRIu16 ", Rate:%5.1f Hz, last %.2fs ago\n", msg_stat.msg_id, (double)msg_stat.avg_rate_hz, (double)elapsed_s); } } } #endif // !CONSTRAINED_FLASH } } } } void MavlinkReceiver::start() { pthread_attr_t receiveloop_attr; pthread_attr_init(&receiveloop_attr); struct sched_param param; (void)pthread_attr_getschedparam(&receiveloop_attr, ¶m); param.sched_priority = SCHED_PRIORITY_MAX - 80; (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); pthread_attr_setstacksize(&receiveloop_attr, PX4_STACK_ADJUSTED(sizeof(MavlinkReceiver) + 2840 + MAVLINK_RECEIVER_NET_ADDED_STACK)); pthread_create(&_thread, &receiveloop_attr, MavlinkReceiver::start_trampoline, (void *)this); pthread_attr_destroy(&receiveloop_attr); } void MavlinkReceiver::updateParams() { // update parameters from storage ModuleParams::updateParams(); } void *MavlinkReceiver::start_trampoline(void *context) { MavlinkReceiver *self = reinterpret_cast(context); self->run(); return nullptr; } void MavlinkReceiver::stop() { _should_exit.store(true); pthread_join(_thread, nullptr); }