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PX4-Autopilot/src/modules/mavlink/mavlink_receiver.cpp
Lorenz Meier d4b588f84a Fix proto version selection
2016-08-28 10:40:00 +02:00

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/****************************************************************************
*
* 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 <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 <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 <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 <mathlib/mathlib.h>
#include <conversion/rotation.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <systemlib/airspeed.h>
#include <commander/px4_custom_mode.h>
#include <geo/geo.h>
#include "mavlink_bridge_header.h"
#include "mavlink_receiver.h"
#include "mavlink_main.h"
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),
_gps_inject_data_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()
{
orb_unsubscribe(_control_mode_sub);
}
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_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_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:
if (_mavlink->accepting_commands()) {
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;
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;
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 (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
set_message_interval((int)(cmd_mavlink.param1 + 0.5f), cmd_mavlink.param2, cmd_mavlink.param3);
} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
get_message_interval((int)cmd_mavlink.param1);
} 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 = {};
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 = {};
if (flow.distance > 0.0f) { // negative values signal invalid data
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 = {};
// Use the component ID to identify the mocap system
att_pos_mocap.id = msg->compid;
att_pos_mocap.timestamp = 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_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 = {};
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 = 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 = {};
// Use the component ID to identify the vision sensor
vision_position.id = msg->compid;
vision_position.timestamp = sync_stamp(pos.usec);
vision_position.timestamp_received = hrt_absolute_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);
// TODO fix this
vision_position.pos_err = 0.0f;
vision_position.ang_err = 0.0f;
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() < (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_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;
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();
}
}
}
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() < (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);
}
}
}
}
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_msg_ping_send_struct(_mavlink->get_channel(), &ping);
}
}
void
MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
{
// REQUEST_DATA_STREAM is deprecated, please use SET_MESSAGE_INTERVAL instead
}
void
MavlinkReceiver::set_message_interval(int msgId, float interval, int data_rate)
{
if (data_rate > 0) {
_mavlink->set_data_rate(data_rate);
}
// configure_stream wants a rate (msgs/second), so convert here.
float rate = 0;
if (interval < 0) {
// stop the stream.
rate = 0;
} else if (interval > 0) {
rate = 1000000.0f / interval;
} else {
// note: mavlink spec says rate == 0 is requesting a default rate but our streams
// don't publish a default rate so for now let's pick a default rate of zero.
}
// The interval between two messages is in microseconds.
// Set to -1 to disable and 0 to request default rate
if (msgId != 0) {
for (unsigned int i = 0; streams_list[i] != nullptr; i++) {
const StreamListItem *item = streams_list[i];
if (msgId == item->get_id()) {
_mavlink->configure_stream_threadsafe(item->get_name(), rate);
break;
}
}
}
}
void
MavlinkReceiver::get_message_interval(int msgId)
{
unsigned interval = 0;
MavlinkStream *stream;
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_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_msg_timesync_send_struct(_mavlink->get_channel(), &rsync);
return;
} else if (tsync.tc1 > 0) {
int64_t offset_ns = (int64_t)(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.gyro_rad[0] = 0.5f * (imu.xgyro + _hil_prev_gyro[0]);
hil_sensors.gyro_rad[1] = 0.5f * (imu.ygyro + _hil_prev_gyro[1]);
hil_sensors.gyro_rad[2] = 0.5f * (imu.zgyro + _hil_prev_gyro[2]);
_hil_prev_gyro[0] = imu.xgyro;
_hil_prev_gyro[1] = imu.ygyro;
_hil_prev_gyro[2] = imu.zgyro;
hil_sensors.gyro_integral_dt = dt;
hil_sensors.timestamp = timestamp;
hil_sensors.accelerometer_m_s2[0] = 0.5f * (imu.xacc + _hil_prev_accel[0]);
hil_sensors.accelerometer_m_s2[1] = 0.5f * (imu.yacc + _hil_prev_accel[1]);
hil_sensors.accelerometer_m_s2[2] = 0.5f * (imu.zacc + _hil_prev_accel[2]);
_hil_prev_accel[0] = imu.xacc;
_hil_prev_accel[1] = imu.yacc;
_hil_prev_accel[2] = imu.zacc;
hil_sensors.accelerometer_integral_dt = dt;
hil_sensors.accelerometer_timestamp_relative = 0;
hil_sensors.magnetometer_ga[0] = imu.xmag;
hil_sensors.magnetometer_ga[1] = imu.ymag;
hil_sensors.magnetometer_ga[2] = imu.zmag;
hil_sensors.magnetometer_timestamp_relative = 0;
hil_sensors.baro_alt_meter = imu.pressure_alt;
hil_sensors.baro_temp_celcius = imu.temperature;
hil_sensors.baro_timestamp_relative = 0;
/* 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_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 = _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_gps_rtcm_data(mavlink_message_t *msg)
{
mavlink_gps_rtcm_data_t gps_rtcm_data_msg;
gps_inject_data_s gps_inject_data_topic;
mavlink_msg_gps_rtcm_data_decode(msg, &gps_rtcm_data_msg);
gps_inject_data_topic.len = 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_rtcm_data_msg.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;
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] = {};
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;
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 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(int64_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(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, 2100);
pthread_create(thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
pthread_attr_destroy(&receiveloop_attr);
}
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