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Rover: handle command_long in GCS base class

mission-4.1.18
Peter Barker 7 years ago committed by Peter Barker
parent
7124132eee
commit
1da3e8f182
2 changed files with 147 additions and 175 deletions
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  1. 321
      APMrover2/GCS_Mavlink.cpp
  2. 1
      APMrover2/GCS_Mavlink.h

321
APMrover2/GCS_Mavlink.cpp
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@ -517,6 +517,152 @@ MAV_RESULT GCS_MAVLINK_Rover::_handle_command_preflight_calibration(const mavlin @@ -517,6 +517,152 @@ MAV_RESULT GCS_MAVLINK_Rover::_handle_command_preflight_calibration(const mavlin
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
}
MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_long_t &packet)
{
switch (packet.command) {
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
rover.set_mode(rover.mode_rtl, MODE_REASON_GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
return MAV_RESULT_FAILED;
}
Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
rover.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
rover.camera_mount.set_roi_target(roi_loc);
}
return MAV_RESULT_ACCEPTED;
#endif
#if MOUNT == ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
rover.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
return MAV_RESULT_ACCEPTED;
#endif
case MAV_CMD_MISSION_START:
rover.set_mode(rover.mode_auto, MODE_REASON_GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1, 1.0f)) {
// run pre_arm_checks and arm_checks and display failures
if (rover.arm_motors(AP_Arming::MAVLINK)) {
return MAV_RESULT_ACCEPTED;
} else {
return MAV_RESULT_FAILED;
}
} else if (is_zero(packet.param1)) {
if (rover.disarm_motors()) {
return MAV_RESULT_ACCEPTED;
} else {
return MAV_RESULT_FAILED;
}
}
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_DO_FENCE_ENABLE:
switch ((uint16_t)packet.param1) {
case 0:
rover.g2.fence.enable(false);
return MAV_RESULT_ACCEPTED;
case 1:
rover.g2.fence.enable(true);
return MAV_RESULT_ACCEPTED;
default:
break;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_CHANGE_SPEED:
// param1 : unused
// param2 : new speed in m/s
if (!rover.control_mode->set_desired_speed(packet.param2)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_DO_SET_HOME:
{
// param1 : use current (1=use current location, 0=use specified location)
// param5 : latitude
// param6 : longitude
// param7 : altitude
if (is_equal(packet.param1, 1.0f)) {
if (rover.set_home_to_current_location(true)) {
return MAV_RESULT_ACCEPTED;
}
} else {
// ensure param1 is zero
if (!is_zero(packet.param1)) {
return MAV_RESULT_FAILED;
}
Location new_home_loc {};
new_home_loc.lat = static_cast<int32_t>(packet.param5 * 1.0e7f);
new_home_loc.lng = static_cast<int32_t>(packet.param6 * 1.0e7f);
new_home_loc.alt = static_cast<int32_t>(packet.param7 * 100.0f);
if (rover.set_home(new_home_loc, true)) {
return MAV_RESULT_ACCEPTED;
}
}
return MAV_RESULT_FAILED;
}
case MAV_CMD_NAV_SET_YAW_SPEED:
{
// param1 : yaw angle to adjust direction by in centidegress
// param2 : Speed - normalized to 0 .. 1
// exit if vehicle is not in Guided mode
if (rover.control_mode != &rover.mode_guided) {
return MAV_RESULT_UNSUPPORTED;
}
// send yaw change and target speed to guided mode controller
const float speed_max = rover.control_mode->get_speed_default();
const float target_speed = constrain_float(packet.param2 * speed_max, -speed_max, speed_max);
rover.mode_guided.set_desired_heading_delta_and_speed(packet.param1, target_speed);
return MAV_RESULT_ACCEPTED;
}
case MAV_CMD_ACCELCAL_VEHICLE_POS:
if (!rover.ins.get_acal()->gcs_vehicle_position(packet.param1)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_DO_MOTOR_TEST:
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
// param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds)
return rover.mavlink_motor_test_start(chan,
static_cast<uint8_t>(packet.param1),
static_cast<uint8_t>(packet.param2),
static_cast<int16_t>(packet.param3),
packet.param4);
default:
return GCS_MAVLINK::handle_command_long_packet(packet);
}
}
void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
@ -623,181 +769,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg) @@ -623,181 +769,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// decode
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
MAV_RESULT result = MAV_RESULT_UNSUPPORTED;
// do command
switch (packet.command) {
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
rover.set_mode(rover.mode_rtl, MODE_REASON_GCS_COMMAND);
result = MAV_RESULT_ACCEPTED;
break;
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
break;
}
Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
rover.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
rover.camera_mount.set_roi_target(roi_loc);
}
result = MAV_RESULT_ACCEPTED;
break;
#endif
case MAV_CMD_DO_MOUNT_CONTROL:
#if MOUNT == ENABLED
rover.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
result = MAV_RESULT_ACCEPTED;
#endif
break;
case MAV_CMD_MISSION_START:
rover.set_mode(rover.mode_auto, MODE_REASON_GCS_COMMAND);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1, 1.0f)) {
// run pre_arm_checks and arm_checks and display failures
if (rover.arm_motors(AP_Arming::MAVLINK)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (is_zero(packet.param1)) {
if (rover.disarm_motors()) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else {
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_DO_FENCE_ENABLE:
result = MAV_RESULT_ACCEPTED;
switch ((uint16_t)packet.param1) {
case 0:
rover.g2.fence.enable(false);
break;
case 1:
rover.g2.fence.enable(true);
break;
default:
result = MAV_RESULT_FAILED;
break;
}
break;
case MAV_CMD_DO_CHANGE_SPEED:
// param1 : unused
// param2 : new speed in m/s
if (rover.control_mode->set_desired_speed(packet.param2)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
break;
case MAV_CMD_DO_SET_HOME:
{
// param1 : use current (1=use current location, 0=use specified location)
// param5 : latitude
// param6 : longitude
// param7 : altitude
result = MAV_RESULT_FAILED; // assume failure
if (is_equal(packet.param1, 1.0f)) {
if (rover.set_home_to_current_location(true)) {
result = MAV_RESULT_ACCEPTED;
}
} else {
// ensure param1 is zero
if (!is_zero(packet.param1)) {
break;
}
Location new_home_loc {};
new_home_loc.lat = static_cast<int32_t>(packet.param5 * 1.0e7f);
new_home_loc.lng = static_cast<int32_t>(packet.param6 * 1.0e7f);
new_home_loc.alt = static_cast<int32_t>(packet.param7 * 100.0f);
if (rover.set_home(new_home_loc, true)) {
result = MAV_RESULT_ACCEPTED;
}
}
break;
}
case MAV_CMD_NAV_SET_YAW_SPEED:
{
// param1 : yaw angle to adjust direction by in centidegress
// param2 : Speed - normalized to 0 .. 1
// exit if vehicle is not in Guided mode
if (rover.control_mode != &rover.mode_guided) {
break;
}
// send yaw change and target speed to guided mode controller
const float speed_max = rover.control_mode->get_speed_default();
const float target_speed = constrain_float(packet.param2 * speed_max, -speed_max, speed_max);
rover.mode_guided.set_desired_heading_delta_and_speed(packet.param1, target_speed);
result = MAV_RESULT_ACCEPTED;
break;
}
case MAV_CMD_ACCELCAL_VEHICLE_POS:
result = MAV_RESULT_FAILED;
if (rover.ins.get_acal()->gcs_vehicle_position(packet.param1)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_MOTOR_TEST:
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
// param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds)
result = rover.mavlink_motor_test_start(chan, static_cast<uint8_t>(packet.param1),
static_cast<uint8_t>(packet.param2),
static_cast<int16_t>(packet.param3),
packet.param4);
break;
default:
result = handle_command_long_message(packet);
break;
}
mavlink_msg_command_ack_send_buf(
msg,
chan,
packet.command,
result);
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{
// allow override of RC channel values for HIL

1
APMrover2/GCS_Mavlink.h
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@ -26,6 +26,7 @@ protected: @@ -26,6 +26,7 @@ protected:
bool set_mode(uint8_t mode) override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
virtual bool in_hil_mode() const override;

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