/**************************************************************************** * * Copyright (c) 2012-2015 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 */ /* XXX trim includes */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #ifndef __PX4_POSIX #include #endif #include #include #include #include #include #include #include #include #include #include #include #include __BEGIN_DECLS #include "mavlink_bridge_header.h" #include "mavlink_receiver.h" #include "mavlink_main.h" __END_DECLS static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f; MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _mavlink(parent), status{}, hil_local_pos{}, hil_land_detector{}, _control_mode{}, _global_pos_pub(nullptr), _local_pos_pub(nullptr), _attitude_pub(nullptr), _gps_pub(nullptr), _sensors_pub(nullptr), _gyro_pub(nullptr), _accel_pub(nullptr), _mag_pub(nullptr), _baro_pub(nullptr), _airspeed_pub(nullptr), _battery_pub(nullptr), _cmd_pub(nullptr), _flow_pub(nullptr), _hil_distance_sensor_pub(nullptr), _flow_distance_sensor_pub(nullptr), _distance_sensor_pub(nullptr), _offboard_control_mode_pub(nullptr), _actuator_controls_pub(nullptr), _global_vel_sp_pub(nullptr), _att_sp_pub(nullptr), _rates_sp_pub(nullptr), _force_sp_pub(nullptr), _pos_sp_triplet_pub(nullptr), _att_pos_mocap_pub(nullptr), _vision_position_pub(nullptr), _telemetry_status_pub(nullptr), _rc_pub(nullptr), _manual_pub(nullptr), _land_detector_pub(nullptr), _time_offset_pub(nullptr), _follow_target_pub(nullptr), _transponder_report_pub(nullptr), _control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))), _hil_frames(0), _old_timestamp(0), _hil_last_frame(0), _hil_local_proj_inited(0), _hil_local_alt0(0.0f), _hil_prev_gyro{}, _hil_prev_accel{}, _hil_local_proj_ref{}, _offboard_control_mode{}, _att_sp{}, _rates_sp{}, _time_offset_avg_alpha(0.6), _time_offset(0), _orb_class_instance(-1), _mom_switch_pos{}, _mom_switch_state(0) { } MavlinkReceiver::~MavlinkReceiver() { } 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_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_ATTITUDE_TARGET: handle_message_set_attitude_target(msg); break; case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET: handle_message_set_actuator_control_target(msg); break; case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE: handle_message_vision_position_estimate(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_REQUEST_DATA_STREAM: handle_message_request_data_stream(msg); break; case MAVLINK_MSG_ID_SYSTEM_TIME: handle_message_system_time(msg); break; case MAVLINK_MSG_ID_TIMESYNC: handle_message_timesync(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_ADSB_VEHICLE: handle_message_adsb_vehicle(msg); break; 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; } } /* If we've received a valid message, mark the flag indicating so. This is used in the '-w' command-line flag. */ _mavlink->set_has_received_messages(true); } 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: /* 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); bool target_ok = evaluate_target_ok(cmd_mavlink.command, cmd_mavlink.target_system, cmd_mavlink.target_component); if (target_ok) { //check for MAVLINK terminate command if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) { /* This is the link shutdown command, terminate mavlink */ warnx("terminated by remote"); fflush(stdout); usleep(50000); /* terminate other threads and this thread */ _mavlink->_task_should_exit = true; } else if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) { /* send autopilot version message */ _mavlink->send_autopilot_capabilites(); } else if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) { _mavlink->configure_stream_threadsafe("HOME_POSITION", 0.5f); } else { if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { warnx("ignoring CMD with same SYS/COMP (%d/%d) ID", mavlink_system.sysid, mavlink_system.compid); return; } struct vehicle_command_s vcmd; memset(&vcmd, 0, sizeof(vcmd)); /* 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 = cmd_mavlink.param5; vcmd.param6 = cmd_mavlink.param6; vcmd.param7 = cmd_mavlink.param7; // XXX do proper translation 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; if (_cmd_pub == nullptr) { _cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); } else { orb_publish(ORB_ID(vehicle_command), _cmd_pub, &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); bool target_ok = evaluate_target_ok(cmd_mavlink.command, cmd_mavlink.target_system, cmd_mavlink.target_component); if (target_ok) { //check for MAVLINK terminate command if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) { /* This is the link shutdown command, terminate mavlink */ warnx("terminated by remote"); fflush(stdout); usleep(50000); /* terminate other threads and this thread */ _mavlink->_task_should_exit = true; } else if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) { /* send autopilot version message */ _mavlink->send_autopilot_capabilites(); } else if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) { _mavlink->configure_stream_threadsafe("HOME_POSITION", 0.5f); } else { if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { warnx("ignoring CMD with same SYS/COMP (%d/%d) ID", mavlink_system.sysid, mavlink_system.compid); return; } struct vehicle_command_s vcmd; memset(&vcmd, 0, sizeof(vcmd)); /* 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; /* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */ vcmd.param5 = ((double)cmd_mavlink.x) / 1e7; vcmd.param6 = ((double)cmd_mavlink.y) / 1e7; vcmd.param7 = cmd_mavlink.z; // XXX do proper translation 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; if (_cmd_pub == nullptr) { _cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); } else { orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd); } } } } void MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) { /* optical flow */ mavlink_optical_flow_rad_t flow; mavlink_msg_optical_flow_rad_decode(msg, &flow); enum Rotation flow_rot; param_get(param_find("SENS_FLOW_ROT"),&flow_rot); struct optical_flow_s f; memset(&f, 0, sizeof(f)); f.timestamp = flow.time_usec; f.integration_timespan = flow.integration_time_us; f.pixel_flow_x_integral = flow.integrated_x; f.pixel_flow_y_integral = flow.integrated_y; f.gyro_x_rate_integral = flow.integrated_xgyro; f.gyro_y_rate_integral = flow.integrated_ygyro; f.gyro_z_rate_integral = flow.integrated_zgyro; f.time_since_last_sonar_update = flow.time_delta_distance_us; f.ground_distance_m = flow.distance; f.quality = flow.quality; f.sensor_id = flow.sensor_id; f.gyro_temperature = flow.temperature; /* rotate measurements according to parameter */ float zeroval = 0.0f; rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval); rotate_3f(flow_rot, f.gyro_x_rate_integral, f.gyro_y_rate_integral, f.gyro_z_rate_integral); if (_flow_pub == nullptr) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); } else { orb_publish(ORB_ID(optical_flow), _flow_pub, &f); } /* Use distance value for distance sensor topic */ struct distance_sensor_s d; memset(&d, 0, sizeof(d)); d.timestamp = flow.integration_time_us * 1000; /* ms to us */ d.min_distance = 0.3f; d.max_distance = 5.0f; d.current_distance = flow.distance; /* both are in m */ d.type = 1; d.id = MAV_DISTANCE_SENSOR_ULTRASOUND; d.orientation = 8; d.covariance = 0.0; if (_flow_distance_sensor_pub == nullptr) { _flow_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d, &_orb_class_instance, ORB_PRIO_HIGH); } else { orb_publish(ORB_ID(distance_sensor), _flow_distance_sensor_pub, &d); } } void MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg) { /* optical flow */ mavlink_hil_optical_flow_t flow; mavlink_msg_hil_optical_flow_decode(msg, &flow); struct optical_flow_s f; memset(&f, 0, sizeof(f)); f.timestamp = hrt_absolute_time(); // XXX we rely on the system time for now and not flow.time_usec; f.integration_timespan = flow.integration_time_us; f.pixel_flow_x_integral = flow.integrated_x; f.pixel_flow_y_integral = flow.integrated_y; f.gyro_x_rate_integral = flow.integrated_xgyro; f.gyro_y_rate_integral = flow.integrated_ygyro; f.gyro_z_rate_integral = flow.integrated_zgyro; f.time_since_last_sonar_update = flow.time_delta_distance_us; f.ground_distance_m = flow.distance; f.quality = flow.quality; f.sensor_id = flow.sensor_id; f.gyro_temperature = flow.temperature; if (_flow_pub == nullptr) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); } else { orb_publish(ORB_ID(optical_flow), _flow_pub, &f); } /* Use distance value for distance sensor topic */ struct distance_sensor_s d; memset(&d, 0, sizeof(d)); d.timestamp = hrt_absolute_time(); d.min_distance = 0.3f; d.max_distance = 5.0f; d.current_distance = flow.distance; /* both are in m */ d.type = 1; d.id = 0; d.orientation = 8; d.covariance = 0.0; if (_hil_distance_sensor_pub == nullptr) { _hil_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d, &_orb_class_instance, ORB_PRIO_HIGH); } else { orb_publish(ORB_ID(distance_sensor), _hil_distance_sensor_pub, &d); } } void MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg) { mavlink_set_mode_t new_mode; mavlink_msg_set_mode_decode(msg, &new_mode); struct vehicle_command_s vcmd; memset(&vcmd, 0, sizeof(vcmd)); union px4_custom_mode custom_mode; custom_mode.data = new_mode.custom_mode; /* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ vcmd.param1 = new_mode.base_mode; vcmd.param2 = custom_mode.main_mode; vcmd.param3 = custom_mode.sub_mode; vcmd.param4 = 0; vcmd.param5 = 0; vcmd.param6 = 0; vcmd.param7 = 0; 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 = 1; if (_cmd_pub == nullptr) { _cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); } else { orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd); } } void MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg) { /* distance sensor */ mavlink_distance_sensor_t dist_sensor; mavlink_msg_distance_sensor_decode(msg, &dist_sensor); struct distance_sensor_s d; memset(&d, 0, sizeof(d)); d.timestamp = dist_sensor.time_boot_ms * 1000; /* ms to us */ d.min_distance = float(dist_sensor.min_distance) * 1e-2f; /* cm to m */ d.max_distance = float(dist_sensor.max_distance) * 1e-2f; /* cm to m */ d.current_distance = float(dist_sensor.current_distance) * 1e-2f; /* cm to m */ d.type = dist_sensor.type; d.id = MAV_DISTANCE_SENSOR_LASER; d.orientation = dist_sensor.orientation; d.covariance = dist_sensor.covariance; /// TODO Add sensor rotation according to MAV_SENSOR_ORIENTATION enum if (_distance_sensor_pub == nullptr) { _distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d, &_orb_class_instance, ORB_PRIO_HIGH); } else { orb_publish(ORB_ID(distance_sensor), _distance_sensor_pub, &d); } } void MavlinkReceiver::handle_message_att_pos_mocap(mavlink_message_t *msg) { mavlink_att_pos_mocap_t mocap; mavlink_msg_att_pos_mocap_decode(msg, &mocap); struct att_pos_mocap_s att_pos_mocap; memset(&att_pos_mocap, 0, sizeof(att_pos_mocap)); // Use the component ID to identify the mocap system att_pos_mocap.id = msg->compid; att_pos_mocap.timestamp_boot = hrt_absolute_time(); // Monotonic time att_pos_mocap.timestamp_computer = sync_stamp(mocap.time_usec); // Synced time att_pos_mocap.q[0] = mocap.q[0]; att_pos_mocap.q[1] = mocap.q[1]; att_pos_mocap.q[2] = mocap.q[2]; att_pos_mocap.q[3] = mocap.q[3]; att_pos_mocap.x = mocap.x; att_pos_mocap.y = mocap.y; att_pos_mocap.z = mocap.z; if (_att_pos_mocap_pub == nullptr) { _att_pos_mocap_pub = orb_advertise(ORB_ID(att_pos_mocap), &att_pos_mocap); } else { orb_publish(ORB_ID(att_pos_mocap), _att_pos_mocap_pub, &att_pos_mocap); } } void MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t *msg) { mavlink_set_position_target_local_ned_t set_position_target_local_ned; mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned); struct offboard_control_mode_s offboard_control_mode; memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints bool values_finite = PX4_ISFINITE(set_position_target_local_ned.x) && PX4_ISFINITE(set_position_target_local_ned.y) && PX4_ISFINITE(set_position_target_local_ned.z) && PX4_ISFINITE(set_position_target_local_ned.vx) && PX4_ISFINITE(set_position_target_local_ned.vy) && PX4_ISFINITE(set_position_target_local_ned.vz) && PX4_ISFINITE(set_position_target_local_ned.afx) && PX4_ISFINITE(set_position_target_local_ned.afy) && PX4_ISFINITE(set_position_target_local_ned.afz) && PX4_ISFINITE(set_position_target_local_ned.yaw); /* Only accept messages which are intended for this system */ if ((mavlink_system.sysid == set_position_target_local_ned.target_system || set_position_target_local_ned.target_system == 0) && (mavlink_system.compid == set_position_target_local_ned.target_component || set_position_target_local_ned.target_component == 0) && values_finite) { /* convert mavlink type (local, NED) to uORB offboard control struct */ offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7); offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38); offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0); bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9)); /* yaw ignore flag mapps to ignore_attitude */ offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400); /* yawrate ignore flag mapps to ignore_bodyrate */ offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800); bool is_takeoff_sp = (bool)(set_position_target_local_ned.type_mask & 0x1000); bool is_land_sp = (bool)(set_position_target_local_ned.type_mask & 0x2000); bool is_loiter_sp = (bool)(set_position_target_local_ned.type_mask & 0x3000); bool is_idle_sp = (bool)(set_position_target_local_ned.type_mask & 0x4000); offboard_control_mode.timestamp = hrt_absolute_time(); if (_offboard_control_mode_pub == nullptr) { _offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode); } else { orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode); } /* If we are in offboard control mode and offboard control loop through is enabled * also publish the setpoint topic which is read by the controller */ if (_mavlink->get_forward_externalsp()) { bool updated; orb_check(_control_mode_sub, &updated); if (updated) { orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); } if (_control_mode.flag_control_offboard_enabled) { if (is_force_sp && offboard_control_mode.ignore_position && offboard_control_mode.ignore_velocity) { /* The offboard setpoint is a force setpoint only, directly writing to the force * setpoint topic and not publishing the setpoint triplet topic */ struct vehicle_force_setpoint_s force_sp; force_sp.x = set_position_target_local_ned.afx; force_sp.y = set_position_target_local_ned.afy; force_sp.z = set_position_target_local_ned.afz; //XXX: yaw if (_force_sp_pub == nullptr) { _force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp); } else { orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp); } } else { /* It's not a pure force setpoint: publish to setpoint triplet topic */ struct position_setpoint_triplet_s pos_sp_triplet; pos_sp_triplet.previous.valid = false; pos_sp_triplet.next.valid = false; pos_sp_triplet.current.valid = true; if (is_takeoff_sp) { pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF; } else if (is_land_sp) { pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LAND; } else if (is_loiter_sp) { pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LOITER; } else if (is_idle_sp) { pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_IDLE; } else { pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; } /* set the local pos values */ if (!offboard_control_mode.ignore_position) { pos_sp_triplet.current.position_valid = true; pos_sp_triplet.current.x = set_position_target_local_ned.x; pos_sp_triplet.current.y = set_position_target_local_ned.y; pos_sp_triplet.current.z = set_position_target_local_ned.z; } else { pos_sp_triplet.current.position_valid = false; } /* set the local vel values */ if (!offboard_control_mode.ignore_velocity) { pos_sp_triplet.current.velocity_valid = true; pos_sp_triplet.current.vx = set_position_target_local_ned.vx; pos_sp_triplet.current.vy = set_position_target_local_ned.vy; pos_sp_triplet.current.vz = set_position_target_local_ned.vz; } else { pos_sp_triplet.current.velocity_valid = false; } /* set the local acceleration values if the setpoint type is 'local pos' and none * of the accelerations fields is set to 'ignore' */ if (!offboard_control_mode.ignore_acceleration_force) { pos_sp_triplet.current.acceleration_valid = true; pos_sp_triplet.current.a_x = set_position_target_local_ned.afx; pos_sp_triplet.current.a_y = set_position_target_local_ned.afy; pos_sp_triplet.current.a_z = set_position_target_local_ned.afz; pos_sp_triplet.current.acceleration_is_force = is_force_sp; } else { pos_sp_triplet.current.acceleration_valid = false; } /* set the yaw sp value */ if (!offboard_control_mode.ignore_attitude) { pos_sp_triplet.current.yaw_valid = true; pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw; } else { pos_sp_triplet.current.yaw_valid = false; } /* set the yawrate sp value */ if (!offboard_control_mode.ignore_bodyrate) { pos_sp_triplet.current.yawspeed_valid = true; pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate; } else { pos_sp_triplet.current.yawspeed_valid = false; } //XXX handle global pos setpoints (different MAV frames) if (_pos_sp_triplet_pub == nullptr) { _pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &pos_sp_triplet); } else { orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &pos_sp_triplet); } } } } } } void MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *msg) { mavlink_set_actuator_control_target_t set_actuator_control_target; mavlink_msg_set_actuator_control_target_decode(msg, &set_actuator_control_target); struct offboard_control_mode_s offboard_control_mode; memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints struct actuator_controls_s actuator_controls; memset(&actuator_controls, 0, sizeof(actuator_controls));//XXX breaks compatibility with multiple setpoints bool values_finite = PX4_ISFINITE(set_actuator_control_target.controls[0]) && PX4_ISFINITE(set_actuator_control_target.controls[1]) && PX4_ISFINITE(set_actuator_control_target.controls[2]) && PX4_ISFINITE(set_actuator_control_target.controls[3]) && PX4_ISFINITE(set_actuator_control_target.controls[4]) && PX4_ISFINITE(set_actuator_control_target.controls[5]) && PX4_ISFINITE(set_actuator_control_target.controls[6]) && PX4_ISFINITE(set_actuator_control_target.controls[7]); if ((mavlink_system.sysid == set_actuator_control_target.target_system || set_actuator_control_target.target_system == 0) && (mavlink_system.compid == set_actuator_control_target.target_component || set_actuator_control_target.target_component == 0) && values_finite) { /* ignore all since we are setting raw actuators here */ offboard_control_mode.ignore_thrust = true; offboard_control_mode.ignore_attitude = true; offboard_control_mode.ignore_bodyrate = true; offboard_control_mode.ignore_position = true; offboard_control_mode.ignore_velocity = true; offboard_control_mode.ignore_acceleration_force = true; offboard_control_mode.timestamp = hrt_absolute_time(); if (_offboard_control_mode_pub == nullptr) { _offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode); } else { orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode); } /* If we are in offboard control mode, publish the actuator controls */ bool updated; orb_check(_control_mode_sub, &updated); if (updated) { orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); } if (_control_mode.flag_control_offboard_enabled) { actuator_controls.timestamp = hrt_absolute_time(); /* Set duty cycles for the servos in actuator_controls_0 */ for(size_t i = 0; i < 8; i++) { actuator_controls.control[i] = set_actuator_control_target.controls[i]; } if (_actuator_controls_pub == nullptr) { _actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls); } else { orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls); } } } } void MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) { mavlink_vision_position_estimate_t pos; mavlink_msg_vision_position_estimate_decode(msg, &pos); struct vision_position_estimate_s vision_position; memset(&vision_position, 0, sizeof(vision_position)); // Use the component ID to identify the vision sensor vision_position.id = msg->compid; vision_position.timestamp_boot = hrt_absolute_time(); // Monotonic time vision_position.timestamp_computer = sync_stamp(pos.usec); // Synced time vision_position.x = pos.x; vision_position.y = pos.y; vision_position.z = pos.z; // XXX fix this vision_position.vx = 0.0f; vision_position.vy = 0.0f; vision_position.vz = 0.0f; math::Quaternion q; q.from_euler(pos.roll, pos.pitch, pos.yaw); vision_position.q[0] = q(0); vision_position.q[1] = q(1); vision_position.q[2] = q(2); vision_position.q[3] = q(3); if (_vision_position_pub == nullptr) { _vision_position_pub = orb_advertise(ORB_ID(vision_position_estimate), &vision_position); } else { orb_publish(ORB_ID(vision_position_estimate), _vision_position_pub, &vision_position); } } void MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) { mavlink_set_attitude_target_t set_attitude_target; mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target); bool values_finite = PX4_ISFINITE(set_attitude_target.q[0]) && PX4_ISFINITE(set_attitude_target.q[1]) && PX4_ISFINITE(set_attitude_target.q[2]) && PX4_ISFINITE(set_attitude_target.q[3]) && PX4_ISFINITE(set_attitude_target.thrust) && PX4_ISFINITE(set_attitude_target.body_roll_rate) && PX4_ISFINITE(set_attitude_target.body_pitch_rate) && PX4_ISFINITE(set_attitude_target.body_yaw_rate); /* Only accept messages which are intended for this system */ if ((mavlink_system.sysid == set_attitude_target.target_system || set_attitude_target.target_system == 0) && (mavlink_system.compid == set_attitude_target.target_component || set_attitude_target.target_component == 0) && values_finite) { /* set correct ignore flags for thrust field: copy from mavlink message */ _offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6)); /* * The tricky part in parsing this message is that the offboard sender *can* set attitude and thrust * using different messages. Eg.: First send set_attitude_target containing the attitude and ignore * bits set for everything else and then send set_attitude_target containing the thrust and ignore bits * set for everything else. */ /* * if attitude or body rate have been used (not ignored) previously and this message only sends * throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and * body rates to keep the controllers running */ bool ignore_bodyrate_msg = (bool)(set_attitude_target.type_mask & 0x7); bool ignore_attitude_msg = (bool)(set_attitude_target.type_mask & (1 << 7)); if (ignore_bodyrate_msg && ignore_attitude_msg && !_offboard_control_mode.ignore_thrust) { /* Message want's us to ignore everything except thrust: only ignore if previously ignored */ _offboard_control_mode.ignore_bodyrate = ignore_bodyrate_msg && _offboard_control_mode.ignore_bodyrate; _offboard_control_mode.ignore_attitude = ignore_attitude_msg && _offboard_control_mode.ignore_attitude; } else { _offboard_control_mode.ignore_bodyrate = ignore_bodyrate_msg; _offboard_control_mode.ignore_attitude = ignore_attitude_msg; } _offboard_control_mode.ignore_position = true; _offboard_control_mode.ignore_velocity = true; _offboard_control_mode.ignore_acceleration_force = true; _offboard_control_mode.timestamp = hrt_absolute_time(); if (_offboard_control_mode_pub == nullptr) { _offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &_offboard_control_mode); } else { orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &_offboard_control_mode); } /* If we are in offboard control mode and offboard control loop through is enabled * also publish the setpoint topic which is read by the controller */ if (_mavlink->get_forward_externalsp()) { bool updated; orb_check(_control_mode_sub, &updated); if (updated) { orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); } if (_control_mode.flag_control_offboard_enabled) { /* Publish attitude setpoint if attitude and thrust ignore bits are not set */ if (!(_offboard_control_mode.ignore_attitude)) { _att_sp.timestamp = hrt_absolute_time(); if (!ignore_attitude_msg) { // only copy att sp if message contained new data mavlink_quaternion_to_euler(set_attitude_target.q, &_att_sp.roll_body, &_att_sp.pitch_body, &_att_sp.yaw_body); mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])_att_sp.R_body); _att_sp.R_valid = true; _att_sp.yaw_sp_move_rate = 0.0; memcpy(_att_sp.q_d, set_attitude_target.q, sizeof(_att_sp.q_d)); _att_sp.q_d_valid = true; } if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid _att_sp.thrust = set_attitude_target.thrust; } if (_att_sp_pub == nullptr) { _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); } else { orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); } } /* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */ ///XXX add support for ignoring individual axes if (!(_offboard_control_mode.ignore_bodyrate)) { _rates_sp.timestamp = hrt_absolute_time(); if (!ignore_bodyrate_msg) { // only copy att rates sp if message contained new data _rates_sp.roll = set_attitude_target.body_roll_rate; _rates_sp.pitch = set_attitude_target.body_pitch_rate; _rates_sp.yaw = set_attitude_target.body_yaw_rate; } if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid _rates_sp.thrust = set_attitude_target.thrust; } if (_rates_sp_pub == nullptr) { _rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp); } else { orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &_rates_sp); } } } } } } 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() < ORB_MULTI_MAX_INSTANCES) { mavlink_radio_status_t rstatus; mavlink_msg_radio_status_decode(msg, &rstatus); struct telemetry_status_s &tstatus = _mavlink->get_rx_status(); tstatus.timestamp = hrt_absolute_time(); tstatus.telem_time = tstatus.timestamp; /* tstatus.heartbeat_time is set by system heartbeats */ tstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO; tstatus.rssi = rstatus.rssi; tstatus.remote_rssi = rstatus.remrssi; tstatus.txbuf = rstatus.txbuf; tstatus.noise = rstatus.noise; tstatus.remote_noise = rstatus.remnoise; tstatus.rxerrors = rstatus.rxerrors; tstatus.fixed = rstatus.fixed; tstatus.system_id = msg->sysid; tstatus.component_id = msg->compid; if (_telemetry_status_pub == nullptr) { int multi_instance; _telemetry_status_pub = orb_advertise_multi(ORB_ID(telemetry_status), &tstatus, &multi_instance, ORB_PRIO_HIGH); } else { orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus); } } } switch_pos_t MavlinkReceiver::decode_switch_pos(uint16_t buttons, unsigned sw) { // This 2-bit method should be used in the future: (buttons >> (sw * 2)) & 3; return (buttons & (1 << sw)) ? manual_control_setpoint_s::SWITCH_POS_ON : manual_control_setpoint_s::SWITCH_POS_OFF; } int MavlinkReceiver::decode_switch_pos_n(uint16_t buttons, unsigned sw) { bool on = (buttons & (1 << sw)); if (sw < MOM_SWITCH_COUNT) { bool last_on = (_mom_switch_state & (1 << sw)); /* first switch is 2-pos, rest is 2 pos */ unsigned state_count = (sw == 0) ? 3 : 2; /* only transition on low state */ if (!on && (on != last_on)) { _mom_switch_pos[sw]++; if (_mom_switch_pos[sw] == state_count) { _mom_switch_pos[sw] = 0; } } /* state_count - 1 is the number of intervals and 1000 is the range, * with 2 states 0 becomes 0, 1 becomes 1000. With * 3 states 0 becomes 0, 1 becomes 500, 2 becomes 1000, * and so on for more states. */ return (_mom_switch_pos[sw] * 1000) / (state_count - 1) + 1000; } else { /* return the current state */ return on * 1000 + 1000; } } 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; } struct rc_input_values rc = {}; rc.timestamp_publication = hrt_absolute_time(); rc.timestamp_last_signal = rc.timestamp_publication; rc.channel_count = 8; rc.rc_failsafe = false; rc.rc_lost = false; rc.rc_lost_frame_count = 0; rc.rc_total_frame_count = 1; rc.rc_ppm_frame_length = 0; rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK; rc.rssi = RC_INPUT_RSSI_MAX; /* 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; if (_rc_pub == nullptr) { _rc_pub = orb_advertise(ORB_ID(input_rc), &rc); } else { orb_publish(ORB_ID(input_rc), _rc_pub, &rc); } } void MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) { mavlink_manual_control_t man; mavlink_msg_manual_control_decode(msg, &man); // Check target if (man.target != 0 && man.target != _mavlink->get_system_id()) { return; } if (_mavlink->get_manual_input_mode_generation()) { struct rc_input_values rc = {}; rc.timestamp_publication = hrt_absolute_time(); rc.timestamp_last_signal = rc.timestamp_publication; rc.channel_count = 8; rc.rc_failsafe = false; rc.rc_lost = false; rc.rc_lost_frame_count = 0; rc.rc_total_frame_count = 1; rc.rc_ppm_frame_length = 0; rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK; rc.rssi = RC_INPUT_RSSI_MAX; /* roll */ rc.values[0] = man.x / 2 + 1500; /* pitch */ rc.values[1] = man.y / 2 + 1500; /* yaw */ rc.values[2] = man.r / 2 + 1500; /* throttle */ rc.values[3] = fminf(fmaxf(man.z / 0.9f + 800, 1000.0f), 2000.0f); /* decode all switches which fit into the channel mask */ unsigned max_switch = (sizeof(man.buttons) * 8); unsigned max_channels = (sizeof(rc.values) / sizeof(rc.values[0])); if (max_switch > (max_channels - 4)) { max_switch = (max_channels - 4); } /* fill all channels */ for (unsigned i = 0; i < max_switch; i++) { rc.values[i + 4] = decode_switch_pos_n(man.buttons, i); } _mom_switch_state = man.buttons; if (_rc_pub == nullptr) { _rc_pub = orb_advertise(ORB_ID(input_rc), &rc); } else { orb_publish(ORB_ID(input_rc), _rc_pub, &rc); } } else { struct manual_control_setpoint_s manual = {}; manual.timestamp = hrt_absolute_time(); manual.x = man.x / 1000.0f; manual.y = man.y / 1000.0f; manual.r = man.r / 1000.0f; manual.z = man.z / 1000.0f; if (_manual_pub == nullptr) { _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); } else { orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual); } } } 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() < ORB_MULTI_MAX_INSTANCES) { mavlink_heartbeat_t hb; mavlink_msg_heartbeat_decode(msg, &hb); /* ignore own heartbeats, accept only heartbeats from GCS */ if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) { struct telemetry_status_s &tstatus = _mavlink->get_rx_status(); /* set heartbeat time and topic time and publish - * the telem status also gets updated on telemetry events */ tstatus.timestamp = hrt_absolute_time(); tstatus.heartbeat_time = tstatus.timestamp; if (_telemetry_status_pub == nullptr) { int multi_instance; _telemetry_status_pub = orb_advertise_multi(ORB_ID(telemetry_status), &tstatus, &multi_instance, ORB_PRIO_HIGH); } else { orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus); } } } } void MavlinkReceiver::handle_message_ping(mavlink_message_t *msg) { mavlink_ping_t ping; mavlink_msg_ping_decode( msg, &ping); if ((mavlink_system.sysid == ping.target_system) && (mavlink_system.compid == ping.target_component)) { mavlink_message_t msg_out; mavlink_msg_ping_encode(_mavlink->get_system_id(), _mavlink->get_component_id(), &msg_out, &ping); _mavlink->send_message(MAVLINK_MSG_ID_PING, &msg_out); } } void MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg) { mavlink_request_data_stream_t req; mavlink_msg_request_data_stream_decode(msg, &req); if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid && req.req_message_rate != 0) { float rate = req.start_stop ? (1000.0f / req.req_message_rate) : 0.0f; MavlinkStream *stream; LL_FOREACH(_mavlink->get_streams(), stream) { if (req.req_stream_id == stream->get_id()) { _mavlink->configure_stream_threadsafe(stream->get_name(), rate); } } } } void MavlinkReceiver::handle_message_system_time(mavlink_message_t *msg) { mavlink_system_time_t time; mavlink_msg_system_time_decode(msg, &time); timespec tv; px4_clock_gettime(CLOCK_REALTIME, &tv); // date -d @1234567890: Sat Feb 14 02:31:30 MSK 2009 bool onb_unix_valid = (unsigned long long)tv.tv_sec > PX4_EPOCH_SECS; bool ofb_unix_valid = time.time_unix_usec > PX4_EPOCH_SECS * 1000ULL; if (!onb_unix_valid && ofb_unix_valid) { tv.tv_sec = time.time_unix_usec / 1000000ULL; tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL; if(px4_clock_settime(CLOCK_REALTIME, &tv)) { warn("failed setting clock"); } else { warnx("[timesync] UTC time synced."); } } } void MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg) { mavlink_timesync_t tsync; mavlink_msg_timesync_decode(msg, &tsync); struct time_offset_s tsync_offset; memset(&tsync_offset, 0, sizeof(tsync_offset)); uint64_t now_ns = hrt_absolute_time() * 1000LL ; if (tsync.tc1 == 0) { mavlink_timesync_t rsync; // return timestamped sync message rsync.tc1 = now_ns; rsync.ts1 = tsync.ts1; _mavlink->send_message(MAVLINK_MSG_ID_TIMESYNC, &rsync); return; } else if (tsync.tc1 > 0) { int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ; int64_t dt = _time_offset - offset_ns; if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew _time_offset = offset_ns; warnx("[timesync] Hard setting offset."); } else { smooth_time_offset(offset_ns); } } tsync_offset.offset_ns = _time_offset ; if (_time_offset_pub == nullptr) { _time_offset_pub = orb_advertise(ORB_ID(time_offset), &tsync_offset); } else { orb_publish(ORB_ID(time_offset), _time_offset_pub, &tsync_offset); } } void MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) { mavlink_hil_sensor_t imu; mavlink_msg_hil_sensor_decode(msg, &imu); uint64_t timestamp = hrt_absolute_time(); float dt; if (_hil_last_frame == 0 || (timestamp <= _hil_last_frame) || (timestamp - _hil_last_frame) > (0.1f * 1e6f) || (_hil_last_frame >= timestamp)) { dt = 0.01f; /* default to 100 Hz */ memset(&_hil_prev_gyro[0], 0, sizeof(_hil_prev_gyro)); _hil_prev_accel[0] = 0.0f; _hil_prev_accel[1] = 0.0f; _hil_prev_accel[2] = 9.866f; } else { dt = (timestamp - _hil_last_frame) / 1e6f; } _hil_last_frame = timestamp; /* airspeed */ { struct airspeed_s airspeed = {}; float ias = calc_indicated_airspeed(imu.diff_pressure * 1e2f); float tas = calc_true_airspeed_from_indicated(ias, imu.abs_pressure * 100, imu.temperature); airspeed.timestamp = timestamp; airspeed.indicated_airspeed_m_s = ias; airspeed.true_airspeed_m_s = tas; if (_airspeed_pub == nullptr) { _airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed); } else { orb_publish(ORB_ID(airspeed), _airspeed_pub, &airspeed); } } /* gyro */ { struct gyro_report gyro = {}; gyro.timestamp = timestamp; gyro.x_raw = imu.xgyro * 1000.0f; gyro.y_raw = imu.ygyro * 1000.0f; gyro.z_raw = imu.zgyro * 1000.0f; gyro.x = imu.xgyro; gyro.y = imu.ygyro; gyro.z = imu.zgyro; gyro.temperature = imu.temperature; if (_gyro_pub == nullptr) { _gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro); } else { orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro); } } /* accelerometer */ { struct accel_report accel = {}; accel.timestamp = timestamp; accel.x_raw = imu.xacc / mg2ms2; accel.y_raw = imu.yacc / mg2ms2; accel.z_raw = imu.zacc / mg2ms2; accel.x = imu.xacc; accel.y = imu.yacc; accel.z = imu.zacc; accel.temperature = imu.temperature; if (_accel_pub == nullptr) { _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); } else { orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); } } /* magnetometer */ { struct mag_report mag = {}; mag.timestamp = timestamp; mag.x_raw = imu.xmag * 1000.0f; mag.y_raw = imu.ymag * 1000.0f; mag.z_raw = imu.zmag * 1000.0f; mag.x = imu.xmag; mag.y = imu.ymag; mag.z = imu.zmag; if (_mag_pub == nullptr) { /* publish to the first mag topic */ _mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag); } else { orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag); } } /* baro */ { struct baro_report baro = {}; baro.timestamp = timestamp; baro.pressure = imu.abs_pressure; baro.altitude = imu.pressure_alt; baro.temperature = imu.temperature; if (_baro_pub == nullptr) { _baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro); } else { orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro); } } /* sensor combined */ { struct sensor_combined_s hil_sensors = {}; hil_sensors.timestamp = timestamp; hil_sensors.gyro_raw[0] = imu.xgyro * 1000.0f; hil_sensors.gyro_raw[1] = imu.ygyro * 1000.0f; hil_sensors.gyro_raw[2] = imu.zgyro * 1000.0f; hil_sensors.gyro_rad_s[0] = imu.xgyro; hil_sensors.gyro_rad_s[1] = imu.ygyro; hil_sensors.gyro_rad_s[2] = imu.zgyro; hil_sensors.gyro_integral_rad[0] = 0.5f * (imu.xgyro + _hil_prev_gyro[0]) * dt; hil_sensors.gyro_integral_rad[1] = 0.5f * (imu.ygyro + _hil_prev_gyro[1]) * dt; hil_sensors.gyro_integral_rad[2] = 0.5f * (imu.zgyro + _hil_prev_gyro[2]) * dt; memcpy(&_hil_prev_gyro[0], &hil_sensors.gyro_rad_s[0], sizeof(_hil_prev_gyro)); hil_sensors.gyro_integral_dt[0] = dt * 1e6f; hil_sensors.gyro_timestamp[0] = timestamp; hil_sensors.gyro_priority[0] = ORB_PRIO_HIGH; hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2; hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2; hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2; hil_sensors.accelerometer_m_s2[0] = imu.xacc; hil_sensors.accelerometer_m_s2[1] = imu.yacc; hil_sensors.accelerometer_m_s2[2] = imu.zacc; hil_sensors.accelerometer_integral_m_s[0] = 0.5f * (imu.xacc + _hil_prev_accel[0]) * dt; hil_sensors.accelerometer_integral_m_s[1] = 0.5f * (imu.yacc + _hil_prev_accel[1]) * dt; hil_sensors.accelerometer_integral_m_s[2] = 0.5f * (imu.zacc + _hil_prev_accel[2]) * dt; memcpy(&_hil_prev_accel[0], &hil_sensors.accelerometer_m_s2[0], sizeof(_hil_prev_accel)); hil_sensors.accelerometer_integral_dt[0] = dt * 1e6f; hil_sensors.accelerometer_mode[0] = 0; // TODO what is this? hil_sensors.accelerometer_range_m_s2[0] = 32.7f; // int16 hil_sensors.accelerometer_timestamp[0] = timestamp; hil_sensors.accelerometer_priority[0] = ORB_PRIO_HIGH; hil_sensors.adc_voltage_v[0] = 0.0f; hil_sensors.adc_voltage_v[1] = 0.0f; hil_sensors.adc_voltage_v[2] = 0.0f; hil_sensors.magnetometer_raw[0] = imu.xmag * 1000.0f; hil_sensors.magnetometer_raw[1] = imu.ymag * 1000.0f; hil_sensors.magnetometer_raw[2] = imu.zmag * 1000.0f; hil_sensors.magnetometer_ga[0] = imu.xmag; hil_sensors.magnetometer_ga[1] = imu.ymag; hil_sensors.magnetometer_ga[2] = imu.zmag; hil_sensors.magnetometer_range_ga[0] = 32.7f; // int16 hil_sensors.magnetometer_mode[0] = 0; // TODO what is this hil_sensors.magnetometer_cuttoff_freq_hz[0] = 50.0f; hil_sensors.magnetometer_timestamp[0] = timestamp; hil_sensors.magnetometer_priority[0] = ORB_PRIO_HIGH; hil_sensors.baro_pres_mbar[0] = imu.abs_pressure; hil_sensors.baro_alt_meter[0] = imu.pressure_alt; hil_sensors.baro_temp_celcius[0] = imu.temperature; hil_sensors.baro_timestamp[0] = timestamp; hil_sensors.differential_pressure_pa[0] = imu.diff_pressure * 1e2f; //from hPa to Pa hil_sensors.differential_pressure_filtered_pa[0] = hil_sensors.differential_pressure_pa[0]; hil_sensors.differential_pressure_timestamp[0] = timestamp; /* publish combined sensor topic */ if (_sensors_pub == nullptr) { _sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); } else { orb_publish(ORB_ID(sensor_combined), _sensors_pub, &hil_sensors); } } /* battery status */ { struct battery_status_s hil_battery_status = {}; hil_battery_status.timestamp = timestamp; hil_battery_status.voltage_v = 11.5f; hil_battery_status.voltage_filtered_v = 11.5f; hil_battery_status.current_a = 10.0f; hil_battery_status.discharged_mah = -1.0f; if (_battery_pub == nullptr) { _battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); } else { orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status); } } /* increment counters */ _hil_frames++; /* print HIL sensors rate */ if ((timestamp - _old_timestamp) > 10000000) { // printf("receiving HIL sensors at %d hz\n", _hil_frames / 10); _old_timestamp = timestamp; _hil_frames = 0; } } void MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) { mavlink_hil_gps_t gps; mavlink_msg_hil_gps_decode(msg, &gps); uint64_t timestamp = hrt_absolute_time(); struct vehicle_gps_position_s hil_gps; memset(&hil_gps, 0, sizeof(hil_gps)); hil_gps.timestamp_time = timestamp; hil_gps.time_utc_usec = gps.time_usec; hil_gps.timestamp_position = timestamp; hil_gps.lat = gps.lat; hil_gps.lon = gps.lon; hil_gps.alt = gps.alt; hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m hil_gps.timestamp_variance = timestamp; hil_gps.s_variance_m_s = 5.0f; hil_gps.timestamp_velocity = timestamp; hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m hil_gps.vel_ned_valid = true; hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f); hil_gps.fix_type = gps.fix_type; hil_gps.satellites_used = gps.satellites_visible; //TODO: rename mavlink_hil_gps_t sats visible to used? if (_gps_pub == nullptr) { _gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); } else { orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &hil_gps); } } void MavlinkReceiver::handle_message_follow_target(mavlink_message_t *msg) { mavlink_follow_target_t follow_target_msg; follow_target_s follow_target_topic = { }; mavlink_msg_follow_target_decode(msg, &follow_target_msg); 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; if (_follow_target_pub == nullptr) { _follow_target_pub = orb_advertise(ORB_ID(follow_target), &follow_target_topic); } else { orb_publish(ORB_ID(follow_target), _follow_target_pub, &follow_target_topic); } } void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg) { mavlink_adsb_vehicle_t adsb; transponder_report_s t = { }; mavlink_msg_adsb_vehicle_decode(msg, &adsb); 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.flags = adsb.flags; t.squawk = adsb.squawk; //warnx("code: %d callsign: %s, vel: %8.4f", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity); if (_transponder_report_pub == nullptr) { _transponder_report_pub = orb_advertise(ORB_ID(transponder_report), &t); } else { orb_publish(ORB_ID(transponder_report), _transponder_report_pub, &t); } } 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); uint64_t timestamp = hrt_absolute_time(); /* airspeed */ { struct airspeed_s airspeed; memset(&airspeed, 0, sizeof(airspeed)); airspeed.timestamp = timestamp; airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f; airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f; if (_airspeed_pub == nullptr) { _airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed); } else { orb_publish(ORB_ID(airspeed), _airspeed_pub, &airspeed); } } /* attitude */ struct vehicle_attitude_s hil_attitude; { memset(&hil_attitude, 0, sizeof(hil_attitude)); math::Quaternion q(hil_state.attitude_quaternion); math::Matrix<3, 3> C_nb = q.to_dcm(); math::Vector<3> euler = C_nb.to_euler(); hil_attitude.timestamp = timestamp; memcpy(hil_attitude.R, C_nb.data, sizeof(hil_attitude.R)); hil_attitude.R_valid = true; hil_attitude.q[0] = q(0); hil_attitude.q[1] = q(1); hil_attitude.q[2] = q(2); hil_attitude.q[3] = q(3); hil_attitude.q_valid = true; hil_attitude.roll = euler(0); hil_attitude.pitch = euler(1); hil_attitude.yaw = euler(2); hil_attitude.rollspeed = hil_state.rollspeed; hil_attitude.pitchspeed = hil_state.pitchspeed; hil_attitude.yawspeed = hil_state.yawspeed; if (_attitude_pub == nullptr) { _attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); } else { orb_publish(ORB_ID(vehicle_attitude), _attitude_pub, &hil_attitude); } } /* global position */ { struct vehicle_global_position_s hil_global_pos; memset(&hil_global_pos, 0, sizeof(hil_global_pos)); hil_global_pos.timestamp = timestamp; 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.vel_n = hil_state.vx / 100.0f; hil_global_pos.vel_e = hil_state.vy / 100.0f; hil_global_pos.vel_d = hil_state.vz / 100.0f; hil_global_pos.yaw = hil_attitude.yaw; hil_global_pos.eph = 2.0f; hil_global_pos.epv = 4.0f; if (_global_pos_pub == nullptr) { _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); } else { orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos); } } /* local position */ { double lat = hil_state.lat * 1e-7; double lon = hil_state.lon * 1e-7; if (!_hil_local_proj_inited) { _hil_local_proj_inited = true; _hil_local_alt0 = hil_state.alt / 1000.0f; map_projection_init(&_hil_local_proj_ref, lat, lon); hil_local_pos.ref_timestamp = timestamp; hil_local_pos.ref_lat = lat; hil_local_pos.ref_lon = lon; hil_local_pos.ref_alt = _hil_local_alt0; } float x; float y; map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y); hil_local_pos.timestamp = timestamp; 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 = _hil_local_alt0 - hil_state.alt / 1000.0f; hil_local_pos.vx = hil_state.vx / 100.0f; hil_local_pos.vy = hil_state.vy / 100.0f; hil_local_pos.vz = hil_state.vz / 100.0f; hil_local_pos.yaw = hil_attitude.yaw; hil_local_pos.xy_global = true; hil_local_pos.z_global = true; if (_local_pos_pub == nullptr) { _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos); } else { orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos); } } /* land detector */ { bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve? if(hil_land_detector.landed != landed) { hil_land_detector.landed = landed; hil_land_detector.timestamp = hrt_absolute_time(); if (_land_detector_pub == nullptr) { _land_detector_pub = orb_advertise(ORB_ID(vehicle_land_detected), &hil_land_detector); } else { orb_publish(ORB_ID(vehicle_land_detected), _land_detector_pub, &hil_land_detector); } } } /* accelerometer */ { struct accel_report accel; memset(&accel, 0, sizeof(accel)); accel.timestamp = timestamp; accel.x_raw = hil_state.xacc / CONSTANTS_ONE_G * 1e3f; accel.y_raw = hil_state.yacc / CONSTANTS_ONE_G * 1e3f; accel.z_raw = hil_state.zacc / CONSTANTS_ONE_G * 1e3f; accel.x = hil_state.xacc; accel.y = hil_state.yacc; accel.z = hil_state.zacc; accel.temperature = 25.0f; if (_accel_pub == nullptr) { _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); } else { orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); } } /* battery status */ { struct battery_status_s hil_battery_status; memset(&hil_battery_status, 0, sizeof(hil_battery_status)); hil_battery_status.timestamp = timestamp; hil_battery_status.voltage_v = 11.1f; hil_battery_status.voltage_filtered_v = 11.1f; hil_battery_status.current_a = 10.0f; hil_battery_status.discharged_mah = -1.0f; if (_battery_pub == nullptr) { _battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); } else { orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status); } } } /** * Receive data from UART. */ void * MavlinkReceiver::receive_thread(void *arg) { /* set thread name */ char thread_name[24]; sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id()); px4_prctl(PR_SET_NAME, thread_name, getpid()); const int timeout = 500; #ifdef __PX4_POSIX /* 1500 is the Wifi MTU, so we make sure to fit a full packet */ uint8_t buf[1600 * 5]; #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]; int uart_fd = -1; if (_mavlink->get_protocol() == SERIAL) { uart_fd = _mavlink->get_uart_fd(); fds[0].fd = uart_fd; fds[0].events = POLLIN; } #ifdef __PX4_POSIX struct sockaddr_in srcaddr = {}; socklen_t addrlen = sizeof(srcaddr); if (_mavlink->get_protocol() == UDP || _mavlink->get_protocol() == TCP) { // make sure mavlink app has booted before we start using the socket while (!_mavlink->boot_complete()) { usleep(100000); } fds[0].fd = _mavlink->get_socket_fd(); fds[0].events = POLLIN; } #endif ssize_t nread = 0; while (!_mavlink->_task_should_exit) { if (poll(&fds[0], 1, timeout) > 0) { if (_mavlink->get_protocol() == SERIAL) { /* * to avoid reading very small chunks wait for data before reading * this is designed to target one message, so >20 bytes at a time */ const unsigned character_count = 20; /* non-blocking read. read may return negative values */ if ((nread = ::read(uart_fd, buf, sizeof(buf))) < (ssize_t)character_count) { unsigned sleeptime = (1.0f / (_mavlink->get_baudrate() / 10)) * character_count * 1000000; usleep(sleeptime); } } #ifdef __PX4_POSIX if (_mavlink->get_protocol() == UDP) { if (fds[0].revents & POLLIN) { nread = recvfrom(_mavlink->get_socket_fd(), buf, sizeof(buf), 0, (struct sockaddr *)&srcaddr, &addrlen); } } else { // could be TCP or other protocol } 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 * 1000 * 1000)) || (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(); warnx("changing partner IP to: %s", inet_ntoa(srcaddr.sin_addr)); } } #endif // only start accepting messages once we're sure who we talk to if (_mavlink->get_client_source_initialized()) { /* 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)) { /* handle generic messages and commands */ handle_message(&msg); /* handle packet with parent object */ _mavlink->handle_message(&msg); } } /* count received bytes (nread will be -1 on read error) */ if (nread > 0) { _mavlink->count_rxbytes(nread); } } } } return nullptr; } void MavlinkReceiver::print_status() { } uint64_t MavlinkReceiver::sync_stamp(uint64_t usec) { if(_time_offset > 0) return usec - (_time_offset / 1000) ; else return hrt_absolute_time(); } void MavlinkReceiver::smooth_time_offset(uint64_t offset_ns) { /* alpha = 0.6 fixed for now. The closer alpha is to 1.0, * the faster the moving average updates in response to * new offset samples. */ _time_offset = (_time_offset_avg_alpha * offset_ns) + (1.0 - _time_offset_avg_alpha) * _time_offset; } void *MavlinkReceiver::start_helper(void *context) { MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context); void* ret = rcv->receive_thread(NULL); delete rcv; return ret; } void MavlinkReceiver::receive_start(pthread_t *thread, Mavlink *parent) { pthread_attr_t receiveloop_attr; pthread_attr_init(&receiveloop_attr); #ifndef __PX4_POSIX // set to non-blocking read int flags = fcntl(parent->get_uart_fd(), F_GETFL, 0); fcntl(parent->get_uart_fd(), F_SETFL, flags | O_NONBLOCK); #endif 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, 2100); pthread_create(thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent); pthread_attr_destroy(&receiveloop_attr); }