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PX4-Autopilot/src/modules/mavlink/mavlink_receiver.cpp
Alexis Paques 6b8ea8e543 Mavlink SET_ACTUATOR_CONTROL_TARGET support group_mlx (#7477) 
- Allow to use the 4 groups from Mavlink
 - Allow an Offboard control of the Gimball, Gripper or servoes.
 - Fixes issue #7440

Signed-off-by: Alexis Paques <alexis.paques@gmail.com>
2018-08-12 10:08:50 -04:00

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/****************************************************************************
*
* Copyright (c) 2012-2018 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
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*
* 1. Redistributions of source code must retain the above copyright
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* 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
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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/**
* @file mavlink_receiver.cpp
* MAVLink protocol message receive and dispatch
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Anton Babushkin <anton@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
/* XXX trim includes */
#include <px4_config.h>
#include <px4_time.h>
#include <px4_tasks.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <unistd.h>
#include <pthread.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <fcntl.h>
#include <string.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_range_finder.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_tone_alarm.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#ifndef __PX4_POSIX
#include <termios.h>
#endif
#include <errno.h>
#include <stdlib.h>
#include <poll.h>
#include <sys/stat.h>
#ifdef __PX4_DARWIN
#include <sys/param.h>
#include <sys/mount.h>
#else
#include <sys/statfs.h>
#endif
#include <airspeed/airspeed.h>
#include <ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <conversion/rotation.h>
#include <parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <commander/px4_custom_mode.h>
#include <uORB/topics/vehicle_command_ack.h>
#include "mavlink_bridge_header.h"
#include "mavlink_receiver.h"
#include "mavlink_main.h"
#include "mavlink_command_sender.h"
using matrix::wrap_2pi;
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mavlink(parent),
_mission_manager(parent),
_parameters_manager(parent),
_mavlink_ftp(parent),
_mavlink_log_handler(parent),
_mavlink_timesync(parent),
_status{},
_hil_local_pos{},
_hil_land_detector{},
_control_mode{},
_global_pos_pub(nullptr),
_local_pos_pub(nullptr),
_attitude_pub(nullptr),
_gps_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_pubs{nullptr, nullptr, nullptr, nullptr},
_att_sp_pub(nullptr),
_rates_sp_pub(nullptr),
_pos_sp_triplet_pub(nullptr),
_att_pos_mocap_pub(nullptr),
_vision_position_pub(nullptr),
_vision_attitude_pub(nullptr),
_telemetry_status_pub(nullptr),
_ping_pub(nullptr),
_rc_pub(nullptr),
_manual_pub(nullptr),
_obstacle_distance_pub(nullptr),
_trajectory_waypoint_pub(nullptr),
_land_detector_pub(nullptr),
_follow_target_pub(nullptr),
_landing_target_pose_pub(nullptr),
_transponder_report_pub(nullptr),
_collision_report_pub(nullptr),
_debug_key_value_pub(nullptr),
_debug_value_pub(nullptr),
_debug_vect_pub(nullptr),
_gps_inject_data_pub(nullptr),
_command_ack_pub(nullptr),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_actuator_armed_sub(orb_subscribe(ORB_ID(actuator_armed))),
_global_ref_timestamp(0),
_hil_frames(0),
_old_timestamp(0),
_hil_local_proj_inited(0),
_hil_local_alt0(0.0f),
_hil_local_proj_ref{},
_offboard_control_mode{},
_orb_class_instance(-1),
_mom_switch_pos{},
_mom_switch_state(0),
_p_bat_emergen_thr(param_find("BAT_EMERGEN_THR")),
_p_bat_crit_thr(param_find("BAT_CRIT_THR")),
_p_bat_low_thr(param_find("BAT_LOW_THR"))
{
}
MavlinkReceiver::~MavlinkReceiver()
{
orb_unsubscribe(_control_mode_sub);
orb_unsubscribe(_actuator_armed_sub);
}
void MavlinkReceiver::acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, uint8_t result)
{
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;
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
vehicle_command_ack_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
}
}
void
MavlinkReceiver::handle_message(mavlink_message_t *msg)
{
if (!_mavlink->get_config_link_on()) {
if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_CONFIG) {
_mavlink->set_config_link_on(true);
}
}
switch (msg->msgid) {
case MAVLINK_MSG_ID_COMMAND_LONG:
if (_mavlink->accepting_commands()) {
handle_message_command_long(msg);
}
break;
case MAVLINK_MSG_ID_COMMAND_INT:
if (_mavlink->accepting_commands()) {
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:
if (_mavlink->accepting_commands()) {
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_ATTITUDE_QUATERNION_COV:
handle_message_attitude_quaternion_cov(msg);
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV:
handle_message_local_position_ned_cov(msg);
break;
case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
handle_message_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_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_OBSTACLE_DISTANCE:
handle_message_obstacle_distance(msg);
break;
case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS:
handle_message_trajectory_representation_waypoints(msg);
break;
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
handle_message_named_value_float(msg);
break;
case MAVLINK_MSG_ID_DEBUG:
handle_message_debug(msg);
break;
case MAVLINK_MSG_ID_DEBUG_VECT:
handle_message_debug_vect(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:
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::send_flight_information()
{
mavlink_flight_information_t flight_info{};
param_t param_flight_uuid = param_find("COM_FLIGHT_UUID");
if (param_flight_uuid != PARAM_INVALID) {
int32_t flight_uuid;
param_get(param_flight_uuid, &flight_uuid);
flight_info.flight_uuid = (uint64_t)flight_uuid;
}
actuator_armed_s actuator_armed;
int ret = orb_copy(ORB_ID(actuator_armed), _actuator_armed_sub, &actuator_armed);
if (ret == 0 && actuator_armed.timestamp != 0) {
flight_info.arming_time_utc = flight_info.takeoff_time_utc = actuator_armed.armed_time_ms;
}
flight_info.time_boot_ms = hrt_absolute_time() / 1000;
mavlink_msg_flight_information_send_struct(_mavlink->get_channel(), &flight_info);
}
void
MavlinkReceiver::send_storage_information(int storage_id)
{
mavlink_storage_information_t storage_info{};
const char *microsd_dir = PX4_STORAGEDIR;
if (storage_id == 0 || storage_id == 1) { // request is for all or the first storage
storage_info.storage_id = 1;
struct statfs statfs_buf;
uint64_t total_bytes = 0;
uint64_t avail_bytes = 0;
if (statfs(microsd_dir, &statfs_buf) == 0) {
total_bytes = (uint64_t)statfs_buf.f_blocks * statfs_buf.f_bsize;
avail_bytes = (uint64_t)statfs_buf.f_bavail * statfs_buf.f_bsize;
}
if (total_bytes == 0) { // on NuttX we get 0 total bytes if no SD card is inserted
storage_info.storage_count = 0;
storage_info.status = 0; // not available
} else {
storage_info.storage_count = 1;
storage_info.status = 2; // available & formatted
storage_info.total_capacity = total_bytes / 1024. / 1024.;
storage_info.available_capacity = avail_bytes / 1024. / 1024.;
storage_info.used_capacity = (total_bytes - avail_bytes) / 1024. / 1024.;
}
} else {
// only one storage supported
storage_info.storage_id = storage_id;
storage_info.storage_count = 1;
}
storage_info.time_boot_ms = hrt_absolute_time() / 1000;
mavlink_msg_storage_information_send_struct(_mavlink->get_channel(), &storage_info);
}
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();
/* 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();
/* 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;
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 <class T>
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_RESULT_ACCEPTED;
if (!target_ok) {
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_FAILED);
return;
}
if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
/* send autopilot version message */
_mavlink->send_autopilot_capabilites();
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_PROTOCOL_VERSION) {
/* send protocol version message */
_mavlink->send_protocol_version();
} else if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) {
_mavlink->configure_stream_threadsafe("HOME_POSITION", 0.5f);
} else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
if (set_message_interval((int)(cmd_mavlink.param1 + 0.5f), cmd_mavlink.param2, cmd_mavlink.param3)) {
result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
}
} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
get_message_interval((int)cmd_mavlink.param1);
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_FLIGHT_INFORMATION) {
send_flight_information();
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_STORAGE_INFORMATION) {
if ((int)(cmd_mavlink.param2 + 0.5f) == 1) {
send_storage_information(cmd_mavlink.param1 + 0.5f);
}
} else {
send_ack = false;
if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
PX4_WARN("ignoring CMD with same SYS/COMP (%d/%d) 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_RESULT_DENIED;
_mavlink->send_statustext_critical("Not enough bandwidth to enable log streaming");
} 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);
}
} else if (cmd_mavlink.command == MAV_CMD_LOGGING_STOP) {
_mavlink->request_stop_ulog_streaming();
}
if (!send_ack) {
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vehicle_command, vehicle_command_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vehicle_command);
}
}
}
if (send_ack) {
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, result);
}
}
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);
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;
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
vehicle_command_ack_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
}
// TODO: move it to the same place that sent the command
if (ack.result != MAV_RESULT_ACCEPTED && ack.result != MAV_RESULT_IN_PROGRESS) {
if (msg->compid == MAV_COMP_ID_CAMERA) {
PX4_WARN("Got unsuccessful result %d from camera", ack.result);
}
}
}
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);
int32_t flow_rot_int;
param_get(param_find("SENS_FLOW_ROT"), &flow_rot_int);
const enum Rotation flow_rot = (Rotation)flow_rot_int;
struct optical_flow_s f = {};
f.timestamp = _mavlink_timesync.sync_stamp(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 = {};
if (flow.distance > 0.0f) { // negative values signal invalid data
d.timestamp = _mavlink_timesync.sync_stamp(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 = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
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 = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
d.id = 0;
d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
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);
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;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
} 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 = {};
// Use the component ID to identify the mocap system
att_pos_mocap.id = msg->compid;
att_pos_mocap.timestamp = _mavlink_timesync.sync_stamp(mocap.time_usec);
att_pos_mocap.timestamp_received = hrt_absolute_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 = {};
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_alt_hold = (bool)(set_position_target_local_ned.type_mask & 0x4);
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 = _mavlink_timesync.sync_stamp(set_position_target_local_ned.time_boot_ms * 1e3f);
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) {
PX4_WARN("force setpoint not supported");
} else {
/* It's not a pure force setpoint: publish to setpoint triplet topic */
struct position_setpoint_triplet_s pos_sp_triplet = {};
pos_sp_triplet.timestamp = _mavlink_timesync.sync_stamp(set_position_target_local_ned.time_boot_ms * 1e3f);
pos_sp_triplet.previous.valid = false;
pos_sp_triplet.next.valid = false;
pos_sp_triplet.current.valid = true;
/* Order of statements matters. Takeoff can override loiter.
* See https://github.com/mavlink/mavlink/pull/670 for a broader conversation. */
if (is_loiter_sp) {
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
} else 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_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;
pos_sp_triplet.current.velocity_frame =
set_position_target_local_ned.coordinate_frame;
} else {
pos_sp_triplet.current.velocity_valid = false;
}
if (!offboard_control_mode.ignore_alt_hold) {
pos_sp_triplet.current.alt_valid = true;
pos_sp_triplet.current.z = set_position_target_local_ned.z;
} else {
pos_sp_triplet.current.alt_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 = {};
struct actuator_controls_s actuator_controls = {};
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 = _mavlink_timesync.sync_stamp(set_actuator_control_target.time_usec * 1e3f);
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 the actuator_controls message */
for (size_t i = 0; i < 8; i++) {
actuator_controls.control[i] = set_actuator_control_target.controls[i];
}
switch (set_actuator_control_target.group_mlx) {
case 0:
if (_actuator_controls_pubs[0] == nullptr) {
_actuator_controls_pubs[0] = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls);
} else {
orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pubs[0], &actuator_controls);
}
break;
case 1:
if (_actuator_controls_pubs[1] == nullptr) {
_actuator_controls_pubs[1] = orb_advertise(ORB_ID(actuator_controls_1), &actuator_controls);
} else {
orb_publish(ORB_ID(actuator_controls_1), _actuator_controls_pubs[1], &actuator_controls);
}
break;
case 2:
if (_actuator_controls_pubs[2] == nullptr) {
_actuator_controls_pubs[2] = orb_advertise(ORB_ID(actuator_controls_2), &actuator_controls);
} else {
orb_publish(ORB_ID(actuator_controls_2), _actuator_controls_pubs[2], &actuator_controls);
}
break;
case 3:
if (_actuator_controls_pubs[3] == nullptr) {
_actuator_controls_pubs[3] = orb_advertise(ORB_ID(actuator_controls_3), &actuator_controls);
} else {
orb_publish(ORB_ID(actuator_controls_3), _actuator_controls_pubs[3], &actuator_controls);
}
break;
default:
break;
}
}
}
}
void
MavlinkReceiver::handle_message_gps_global_origin(mavlink_message_t *msg)
{
mavlink_gps_global_origin_t origin;
mavlink_msg_gps_global_origin_decode(msg, &origin);
if (!globallocalconverter_initialized()) {
/* Set reference point conversion of local coordiantes <--> global coordinates */
globallocalconverter_init((double)origin.latitude * 1.0e-7, (double)origin.longitude * 1.0e-7,
(float)origin.altitude * 1.0e-3f, hrt_absolute_time());
_global_ref_timestamp = hrt_absolute_time();
}
}
void
MavlinkReceiver::handle_message_attitude_quaternion_cov(mavlink_message_t *msg)
{
mavlink_attitude_quaternion_cov_t att;
mavlink_msg_attitude_quaternion_cov_decode(msg, &att);
struct vehicle_attitude_s vision_attitude = {};
vision_attitude.timestamp = _mavlink_timesync.sync_stamp(att.time_usec);
vision_attitude.q[0] = att.q[0];
vision_attitude.q[1] = att.q[1];
vision_attitude.q[2] = att.q[2];
vision_attitude.q[3] = att.q[3];
vision_attitude.rollspeed = att.rollspeed;
vision_attitude.pitchspeed = att.pitchspeed;
vision_attitude.yawspeed = att.yawspeed;
// TODO : full covariance matrix
int instance_id = 0;
orb_publish_auto(ORB_ID(vehicle_vision_attitude), &_vision_attitude_pub, &vision_attitude, &instance_id, ORB_PRIO_HIGH);
}
void
MavlinkReceiver::handle_message_local_position_ned_cov(mavlink_message_t *msg)
{
mavlink_local_position_ned_cov_t pos;
mavlink_msg_local_position_ned_cov_decode(msg, &pos);
struct vehicle_local_position_s vision_position = {};
vision_position.timestamp = _mavlink_timesync.sync_stamp(pos.time_usec);
vision_position.xy_valid = true;
vision_position.z_valid = true;
vision_position.v_xy_valid = true;
vision_position.v_z_valid = true;
vision_position.x = pos.x;
vision_position.y = pos.y;
vision_position.z = pos.z;
vision_position.vx = pos.vx;
vision_position.vy = pos.vy;
vision_position.vz = pos.vz;
// Low risk change for now. TODO : full covariance matrix
vision_position.eph = sqrtf(fmaxf(pos.covariance[0], pos.covariance[9]));
vision_position.epv = sqrtf(pos.covariance[17]);
vision_position.evh = sqrtf(fmaxf(pos.covariance[24], pos.covariance[30]));
vision_position.evv = sqrtf(pos.covariance[35]);
// set position/velocity invalid if standard deviation is bigger than ev_max_std_dev
const float ev_max_std_dev = 100.0f;
if (vision_position.eph > ev_max_std_dev) {
vision_position.xy_valid = false;
}
if (vision_position.evh > ev_max_std_dev) {
vision_position.v_xy_valid = false;
}
if (vision_position.epv > ev_max_std_dev) {
vision_position.z_valid = false;
}
if (vision_position.evv > ev_max_std_dev) {
vision_position.v_z_valid = false;
}
vision_position.xy_global = globallocalconverter_initialized();
vision_position.z_global = globallocalconverter_initialized();
vision_position.ref_timestamp = _global_ref_timestamp;
globallocalconverter_getref(&vision_position.ref_lat, &vision_position.ref_lon, &vision_position.ref_alt);
vision_position.dist_bottom_valid = false;
int instance_id = 0;
orb_publish_auto(ORB_ID(vehicle_vision_position), &_vision_position_pub, &vision_position, &instance_id, ORB_PRIO_HIGH);
}
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 vehicle_local_position_s vision_position = {};
vision_position.timestamp = _mavlink_timesync.sync_stamp(pos.usec);
vision_position.x = pos.x;
vision_position.y = pos.y;
vision_position.z = pos.z;
vision_position.xy_valid = true;
vision_position.z_valid = true;
vision_position.v_xy_valid = true;
vision_position.v_z_valid = true;
struct vehicle_attitude_s vision_attitude = {};
vision_attitude.timestamp = _mavlink_timesync.sync_stamp(pos.usec);
matrix::Quatf q(matrix::Eulerf(pos.roll, pos.pitch, pos.yaw));
q.copyTo(vision_attitude.q);
int inst = 0;
orb_publish_auto(ORB_ID(vehicle_vision_position), &_vision_position_pub, &vision_position, &inst, ORB_PRIO_DEFAULT);
orb_publish_auto(ORB_ID(vehicle_vision_attitude), &_vision_attitude_pub, &vision_attitude, &inst, ORB_PRIO_DEFAULT);
}
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 = _mavlink_timesync.sync_stamp(set_attitude_target.time_boot_ms * 1e3f);
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)) {
vehicle_attitude_setpoint_s att_sp = {};
att_sp.timestamp = _mavlink_timesync.sync_stamp(set_attitude_target.time_boot_ms * 1e3f);
if (!ignore_attitude_msg) { // only copy att sp if message contained new data
matrix::Quatf q(set_attitude_target.q);
q.copyTo(att_sp.q_d);
att_sp.q_d_valid = true;
matrix::Eulerf euler{q};
att_sp.roll_body = euler.phi();
att_sp.pitch_body = euler.theta();
att_sp.yaw_body = euler.psi();
att_sp.yaw_sp_move_rate = 0.0f;
}
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)) {
vehicle_rates_setpoint_s rates_sp = {};
rates_sp.timestamp = _mavlink_timesync.sync_stamp(set_attitude_target.time_boot_ms * 1e3f);
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() < (mavlink_channel_t)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);
}
}
}
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) {
struct 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;
if (_ping_pub == nullptr) {
int multi_instance;
_ping_pub = orb_advertise_multi(ORB_ID(ping), &uorb_ping_msg, &multi_instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(ping), _ping_pub, &uorb_ping_msg);
}
}
}
}
void
MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
{
// 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 (battery_mavlink.voltages[cell_count] < UINT16_MAX && cell_count < 10) {
voltage_sum += (float)(battery_mavlink.voltages[cell_count]) / 1000.0f;
cell_count++;
}
battery_status.voltage_v = voltage_sum;
battery_status.voltage_filtered_v = voltage_sum;
battery_status.current_a = battery_status.current_filtered_a = (float)(battery_mavlink.current_battery) / 100.0f;
battery_status.current_filtered_a = battery_status.current_a;
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.connected = true;
// Get the battery level thresholds.
float bat_emergen_thr;
float bat_crit_thr;
float bat_low_thr;
param_get(_p_bat_emergen_thr, &bat_emergen_thr);
param_get(_p_bat_crit_thr, &bat_crit_thr);
param_get(_p_bat_low_thr, &bat_low_thr);
// Set the battery warning based on remaining charge.
// Note: Smallest values must come first in evaluation.
if (battery_status.remaining < bat_emergen_thr) {
battery_status.warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
} else if (battery_status.remaining < bat_crit_thr) {
battery_status.warning = battery_status_s::BATTERY_WARNING_CRITICAL;
} else if (battery_status.remaining < bat_low_thr) {
battery_status.warning = battery_status_s::BATTERY_WARNING_LOW;
}
if (_battery_pub == nullptr) {
_battery_pub = orb_advertise(ORB_ID(battery_status), &battery_status);
} else {
orb_publish(ORB_ID(battery_status), _battery_pub, &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);
// 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) {
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);
char *tune = play_tune.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)) {
if (*tune == 'M') {
int fd = px4_open(TONEALARM0_DEVICE_PATH, PX4_F_WRONLY);
if (fd >= 0) {
px4_write(fd, tune, strlen(tune) + 1);
px4_close(fd);
}
}
}
}
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 = _mavlink_timesync.sync_stamp(mavlink_obstacle_distance.time_usec);
obstacle_distance.sensor_type = mavlink_obstacle_distance.sensor_type;
memcpy(obstacle_distance.distances, mavlink_obstacle_distance.distances, sizeof(obstacle_distance.distances));
obstacle_distance.increment = mavlink_obstacle_distance.increment;
obstacle_distance.min_distance = mavlink_obstacle_distance.min_distance;
obstacle_distance.max_distance = mavlink_obstacle_distance.max_distance;
if (_obstacle_distance_pub == nullptr) {
_obstacle_distance_pub = orb_advertise(ORB_ID(obstacle_distance), &obstacle_distance);
} else {
orb_publish(ORB_ID(obstacle_distance), _obstacle_distance_pub, &obstacle_distance);
}
}
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);
struct vehicle_trajectory_waypoint_s trajectory_waypoint = {};
trajectory_waypoint.timestamp = _mavlink_timesync.sync_stamp(trajectory.time_usec);
const int number_valid_points = trajectory.valid_points;
for (int i = 0; i < vehicle_trajectory_waypoint_s::NUMBER_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];
}
for (int i = 0; i < number_valid_points; ++i) {
trajectory_waypoint.waypoints[i].point_valid = true;
}
for (int i = number_valid_points; i < vehicle_trajectory_waypoint_s::NUMBER_POINTS; ++i) {
trajectory_waypoint.waypoints[i].point_valid = false;
}
if (_trajectory_waypoint_pub == nullptr) {
_trajectory_waypoint_pub = orb_advertise(ORB_ID(vehicle_trajectory_waypoint), &trajectory_waypoint);
} else {
orb_publish(ORB_ID(vehicle_trajectory_waypoint), _trajectory_waypoint_pub, &trajectory_waypoint);
}
}
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 = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp;
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 = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp;
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;
manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
int m_inst;
orb_publish_auto(ORB_ID(manual_control_setpoint), &_manual_pub, &manual, &m_inst, ORB_PRIO_LOW);
}
}
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) {
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);
}
}
}
}
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;
// The interval between two messages is in microseconds.
// Set to -1 to disable and 0 to request default rate
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;
MavlinkStream *stream = nullptr;
LL_FOREACH(_mavlink->get_streams(), stream) {
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 imu;
mavlink_msg_hil_sensor_decode(msg, &imu);
uint64_t timestamp = hrt_absolute_time();
/* 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 / (CONSTANTS_ONE_G / 1000.0f);
accel.y_raw = imu.yacc / (CONSTANTS_ONE_G / 1000.0f);
accel.z_raw = imu.zacc / (CONSTANTS_ONE_G / 1000.0f);
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.temperature = imu.temperature;
/* fake device ID */
baro.device_id = 1234567;
if (_baro_pub == nullptr) {
_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
} else {
orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
}
}
/* 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 = {};
hil_gps.timestamp_time_relative = 0;
hil_gps.time_utc_usec = gps.time_usec;
hil_gps.timestamp = 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.s_variance_m_s = 1.0f;
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 = ((gps.cog == 65535) ? NAN : wrap_2pi(math::radians(gps.cog * 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?
hil_gps.heading = NAN;
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 = _mavlink_timesync.sync_stamp(follow_target_msg.timestamp * 1e3f);
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_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;
if (_landing_target_pose_pub == nullptr) {
_landing_target_pose_pub = orb_advertise(ORB_ID(landing_target_pose), &landing_target_pose);
} else {
orb_publish(ORB_ID(landing_target_pose), _landing_target_pose_pub, &landing_target_pose);
}
}
}
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.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);
if (_transponder_report_pub == nullptr) {
_transponder_report_pub = orb_advertise_queue(ORB_ID(transponder_report), &t, transponder_report_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(transponder_report), _transponder_report_pub, &t);
}
}
void MavlinkReceiver::handle_message_collision(mavlink_message_t *msg)
{
mavlink_collision_t collision;
collision_report_s t = {};
mavlink_msg_collision_decode(msg, &collision);
t.timestamp = hrt_absolute_time();
t.src = collision.src;
t.id = collision.id;
t.action = collision.action;
t.threat_level = collision.threat_level;
t.time_to_minimum_delta = collision.time_to_minimum_delta;
t.altitude_minimum_delta = collision.altitude_minimum_delta;
t.horizontal_minimum_delta = collision.horizontal_minimum_delta;
if (_collision_report_pub == nullptr) {
_collision_report_pub = orb_advertise(ORB_ID(collision_report), &t);
} else {
orb_publish(ORB_ID(collision_report), _collision_report_pub, &t);
}
}
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.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));
orb_advert_t &pub = _gps_inject_data_pub;
if (pub == nullptr) {
pub = orb_advertise_queue(ORB_ID(gps_inject_data), &gps_inject_data_topic,
_gps_inject_data_queue_size);
} else {
orb_publish(ORB_ID(gps_inject_data), pub, &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);
uint64_t timestamp = hrt_absolute_time();
/* airspeed */
{
struct airspeed_s 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;
{
hil_attitude = {};
hil_attitude.timestamp = timestamp;
matrix::Quatf q(hil_state.attitude_quaternion);
q.copyTo(hil_attitude.q);
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 = {};
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.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 = 0.0f;
float y = 0.0f;
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;
matrix::Eulerf euler = matrix::Quatf(hil_attitude.q);
_hil_local_pos.yaw = euler.psi();
_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;
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 = {};
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 = {};
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);
}
}
}
void MavlinkReceiver::handle_message_named_value_float(mavlink_message_t *msg)
{
mavlink_named_value_float_t debug_msg;
debug_key_value_s debug_topic = {};
mavlink_msg_named_value_float_decode(msg, &debug_msg);
debug_topic.timestamp = _mavlink_timesync.sync_stamp(debug_msg.time_boot_ms * 1e3f);
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;
if (_debug_key_value_pub == nullptr) {
_debug_key_value_pub = orb_advertise(ORB_ID(debug_key_value), &debug_topic);
} else {
orb_publish(ORB_ID(debug_key_value), _debug_key_value_pub, &debug_topic);
}
}
void MavlinkReceiver::handle_message_debug(mavlink_message_t *msg)
{
mavlink_debug_t debug_msg;
debug_value_s debug_topic = {};
mavlink_msg_debug_decode(msg, &debug_msg);
debug_topic.timestamp = _mavlink_timesync.sync_stamp(debug_msg.time_boot_ms * 1e3f);
debug_topic.ind = debug_msg.ind;
debug_topic.value = debug_msg.value;
if (_debug_value_pub == nullptr) {
_debug_value_pub = orb_advertise(ORB_ID(debug_value), &debug_topic);
} else {
orb_publish(ORB_ID(debug_value), _debug_value_pub, &debug_topic);
}
}
void MavlinkReceiver::handle_message_debug_vect(mavlink_message_t *msg)
{
mavlink_debug_vect_t debug_msg;
debug_vect_s debug_topic = {};
mavlink_msg_debug_vect_decode(msg, &debug_msg);
debug_topic.timestamp = _mavlink_timesync.sync_stamp(debug_msg.time_usec);
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;
if (_debug_vect_pub == nullptr) {
_debug_vect_pub = orb_advertise(ORB_ID(debug_vect), &debug_topic);
} else {
orb_publish(ORB_ID(debug_vect), _debug_vect_pub, &debug_topic);
}
}
/**
* 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, px4_getpid());
}
// poll timeout in ms. Also defines the max update frequency of the mission & param manager, etc.
const int timeout = 10;
// publish the telemetry status once for the iridium telemetry
if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) {
struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
tstatus.timestamp = hrt_absolute_time();
tstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_IRIDIUM;
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);
}
}
#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] = {};
if (_mavlink->get_protocol() == SERIAL) {
fds[0].fd = _mavlink->get_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;
hrt_abstime last_send_update = 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(fds[0].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();
PX4_INFO("partner IP: %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)) {
/* 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);
}
/* handle generic messages and commands */
handle_message(&msg);
/* handle packet with mission manager */
_mission_manager.handle_message(&msg);
/* handle packet with parameter component */
_parameters_manager.handle_message(&msg);
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);
}
}
/* count received bytes (nread will be -1 on read error) */
if (nread > 0) {
_mavlink->count_rxbytes(nread);
}
}
}
hrt_abstime t = hrt_absolute_time();
if (t - last_send_update > timeout * 1000) {
_mission_manager.check_active_mission();
_mission_manager.send(t);
_parameters_manager.send(t);
if (_mavlink->ftp_enabled()) {
_mavlink_ftp.send(t);
}
_mavlink_log_handler.send(t);
last_send_update = t;
}
}
return nullptr;
}
void MavlinkReceiver::print_status()
{
}
void *MavlinkReceiver::start_helper(void *context)
{
MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context);
if (!rcv) {
PX4_ERR("alloc failed");
return nullptr;
}
void *ret = rcv->receive_thread(nullptr);
delete rcv;
return ret;
}
void
MavlinkReceiver::receive_start(pthread_t *thread, Mavlink *parent)
{
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
struct sched_param param;
(void)pthread_attr_getschedparam(&receiveloop_attr, &param);
param.sched_priority = SCHED_PRIORITY_MAX - 80;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, PX4_STACK_ADJUSTED(2840));
pthread_create(thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
pthread_attr_destroy(&receiveloop_attr);
}
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