mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-28 16:20:35 +08:00
Thomas Gubler
98 lines
3.1 KiB
C
98 lines
3.1 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2012-2014 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.c
|
|
* Adapter functions expected by the protocol library
|
|
*
|
|
* @author Lorenz Meier <lm@inf.ethz.ch>
|
|
*/
|
|
|
|
#include <nuttx/config.h>
|
|
#include <unistd.h>
|
|
#include <stdio.h>
|
|
#include <stdbool.h>
|
|
#include <string.h>
|
|
#include "mavlink_bridge_header.h"
|
|
#include <systemlib/param/param.h>
|
|
|
|
/* define MAVLink specific parameters */
|
|
/**
|
|
* MAVLink system ID
|
|
* @group MAVLink
|
|
*/
|
|
PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
|
|
/**
|
|
* MAVLink component ID
|
|
* @group MAVLink
|
|
*/
|
|
PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
|
|
/**
|
|
* MAVLink type
|
|
* @group MAVLink
|
|
*/
|
|
PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
|
|
/**
|
|
* Use/Accept HIL GPS message (even if not in HIL mode)
|
|
* If set to 1 incomming HIL GPS messages are parsed.
|
|
* @group MAVLink
|
|
*/
|
|
PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
|
|
|
|
mavlink_system_t mavlink_system = {
|
|
100,
|
|
50,
|
|
MAV_TYPE_FIXED_WING,
|
|
0,
|
|
0,
|
|
0
|
|
}; // System ID, 1-255, Component/Subsystem ID, 1-255
|
|
|
|
/*
|
|
* Internal function to give access to the channel status for each channel
|
|
*/
|
|
extern mavlink_status_t *mavlink_get_channel_status(uint8_t channel)
|
|
{
|
|
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
|
|
return &m_mavlink_status[channel];
|
|
}
|
|
|
|
/*
|
|
* Internal function to give access to the channel buffer for each channel
|
|
*/
|
|
extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
|
|
{
|
|
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
|
|
return &m_mavlink_buffer[channel];
|
|
}
|