You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
253 lines
7.5 KiB
253 lines
7.5 KiB
#ifndef Mavlink_Common_H |
|
#define Mavlink_Common_H |
|
|
|
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK || GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK |
|
|
|
uint16_t system_type = MAV_FIXED_WING; |
|
byte mavdelay = 0; |
|
|
|
static uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid) |
|
{ |
|
if (sysid != mavlink_system.sysid) |
|
{ |
|
return 1; |
|
} |
|
else if (compid != mavlink_system.compid) |
|
{ |
|
gcs.send_text(SEVERITY_LOW,"component id mismatch"); |
|
return 0; // XXX currently not receiving correct compid from gcs |
|
} |
|
else return 0; // no error |
|
} |
|
|
|
/** |
|
* @brief Send low-priority messages at a maximum rate of xx Hertz |
|
* |
|
* This function sends messages at a lower rate to not exceed the wireless |
|
* bandwidth. It sends one message each time it is called until the buffer is empty. |
|
* Call this function with xx Hertz to increase/decrease the bandwidth. |
|
*/ |
|
static void mavlink_queued_send(mavlink_channel_t chan) |
|
{ |
|
AP_Var *vp; |
|
float value; |
|
|
|
// send parameters one by one and prevent cross port comms |
|
if (NULL != global_data.parameter_p && global_data.requested_interface == chan) { |
|
|
|
// if the value can't be represented as a float, we will skip it here |
|
vp = global_data.parameter_p; |
|
value = vp->cast_to_float(); |
|
if (!isnan(value)) { |
|
char param_name[ONBOARD_PARAM_NAME_LENGTH]; /// XXX HACK |
|
|
|
vp->copy_name(param_name, sizeof(param_name)); |
|
mavlink_msg_param_value_send(chan, |
|
(int8_t*)param_name, |
|
value, |
|
256, |
|
vp->meta_get_handle()); |
|
} |
|
|
|
// remember the next variable we're going to send |
|
global_data.parameter_p = vp->next(); |
|
} |
|
|
|
// this is called at 50hz, count runs to prevent flooding serialport and delayed to allow eeprom write |
|
mavdelay++; |
|
|
|
// request waypoints one by one |
|
if (global_data.waypoint_receiving && global_data.requested_interface == chan && |
|
global_data.waypoint_request_i <= g.waypoint_total && mavdelay > 15) // limits to 3.33 hz |
|
{ |
|
mavlink_msg_waypoint_request_send(chan, |
|
global_data.waypoint_dest_sysid, |
|
global_data.waypoint_dest_compid ,global_data.waypoint_request_i); |
|
mavdelay = 0; |
|
} |
|
} |
|
|
|
void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, uint16_t packet_drops) |
|
{ |
|
uint64_t timeStamp = micros(); |
|
switch(id) { |
|
|
|
case MSG_HEARTBEAT: |
|
mavlink_msg_heartbeat_send(chan,system_type,MAV_AUTOPILOT_ARDUPILOTMEGA); |
|
break; |
|
|
|
case MSG_EXTENDED_STATUS: |
|
{ |
|
uint8_t mode = MAV_MODE_UNINIT; |
|
uint8_t nav_mode = MAV_NAV_VECTOR; |
|
|
|
switch(control_mode) { |
|
case MANUAL: |
|
mode = MAV_MODE_MANUAL; |
|
break; |
|
case CIRCLE: |
|
mode = MAV_MODE_TEST3; |
|
break; |
|
case STABILIZE: |
|
mode = MAV_MODE_GUIDED; |
|
break; |
|
case FLY_BY_WIRE_A: |
|
mode = MAV_MODE_TEST1; |
|
break; |
|
case FLY_BY_WIRE_B: |
|
mode = MAV_MODE_TEST2; |
|
break; |
|
case AUTO: |
|
mode = MAV_MODE_AUTO; |
|
nav_mode = MAV_NAV_WAYPOINT; |
|
break; |
|
case RTL: |
|
mode = MAV_MODE_AUTO; |
|
nav_mode = MAV_NAV_RETURNING; |
|
break; |
|
case LOITER: |
|
mode = MAV_MODE_AUTO; |
|
nav_mode = MAV_NAV_HOLD; |
|
break; |
|
case TAKEOFF: |
|
mode = MAV_MODE_AUTO; |
|
nav_mode = MAV_NAV_LIFTOFF; |
|
break; |
|
case LAND: |
|
mode = MAV_MODE_AUTO; |
|
nav_mode = MAV_NAV_LANDING; |
|
break; |
|
} |
|
uint8_t status = MAV_STATE_ACTIVE; |
|
uint8_t motor_block = false; |
|
|
|
mavlink_msg_sys_status_send(chan,mode,nav_mode,status,load*1000, |
|
battery_voltage1*1000,motor_block,packet_drops); |
|
break; |
|
} |
|
|
|
case MSG_ATTITUDE: |
|
{ |
|
Vector3f omega = dcm.get_gyro(); |
|
mavlink_msg_attitude_send(chan,timeStamp,dcm.roll,dcm.pitch,dcm.yaw, |
|
omega.x,omega.y,omega.z); |
|
break; |
|
} |
|
case MSG_LOCATION: |
|
{ |
|
Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now |
|
mavlink_msg_global_position_int_send(chan,current_loc.lat, |
|
current_loc.lng,current_loc.alt*10,g_gps.ground_speed/1.0e2*rot.a.x, |
|
g_gps.ground_speed/1.0e2*rot.b.x,g_gps.ground_speed/1.0e2*rot.c.x); |
|
break; |
|
} |
|
case MSG_LOCAL_LOCATION: |
|
{ |
|
Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now |
|
mavlink_msg_local_position_send(chan,timeStamp,ToRad((current_loc.lat-home.lat)/1.0e7)*radius_of_earth, |
|
ToRad((current_loc.lng-home.lng)/1.0e7)*radius_of_earth*cos(ToRad(home.lat/1.0e7)), |
|
(current_loc.alt-home.alt)/1.0e2, g_gps.ground_speed/1.0e2*rot.a.x, |
|
g_gps.ground_speed/1.0e2*rot.b.x,g_gps.ground_speed/1.0e2*rot.c.x); |
|
break; |
|
} |
|
case MSG_GPS_RAW: |
|
{ |
|
mavlink_msg_gps_raw_send(chan,timeStamp,g_gps.status(), |
|
g_gps.latitude/1.0e7,g_gps.longitude/1.0e7,g_gps.altitude/100.0, |
|
g_gps.hdop,0.0,g_gps.ground_speed/100.0,g_gps.ground_course/100.0); |
|
break; |
|
} |
|
case MSG_SERVO_OUT: |
|
{ |
|
uint8_t rssi = 1; |
|
// normalized values scaled to -10000 to 10000 |
|
// This is used for HIL. Do not change without discussing with HIL maintainers |
|
mavlink_msg_rc_channels_scaled_send(chan, |
|
10000*rc[0]->norm_output(), |
|
10000*rc[1]->norm_output(), |
|
10000*rc[2]->norm_output(), |
|
10000*rc[3]->norm_output(), |
|
0,0,0,0,rssi); |
|
break; |
|
} |
|
case MSG_RADIO_IN: |
|
{ |
|
uint8_t rssi = 1; |
|
mavlink_msg_rc_channels_raw_send(chan, |
|
rc[0]->radio_in, |
|
rc[1]->radio_in, |
|
rc[2]->radio_in, |
|
rc[3]->radio_in, |
|
0/*rc[4]->radio_in*/, // XXX currently only 4 RC channels defined |
|
0/*rc[5]->radio_in*/, |
|
0/*rc[6]->radio_in*/, |
|
0/*rc[7]->radio_in*/, |
|
rssi); |
|
break; |
|
} |
|
case MSG_RADIO_OUT: |
|
{ |
|
mavlink_msg_servo_output_raw_send(chan, |
|
rc[0]->radio_out, |
|
rc[1]->radio_out, |
|
rc[2]->radio_out, |
|
rc[3]->radio_out, |
|
0/*rc[4]->radio_out*/, // XXX currently only 4 RC channels defined |
|
0/*rc[5]->radio_out*/, |
|
0/*rc[6]->radio_out*/, |
|
0/*rc[7]->radio_out*/); |
|
break; |
|
} |
|
case MSG_VFR_HUD: |
|
{ |
|
mavlink_msg_vfr_hud_send(chan, (float)airspeed/100.0, (float)g_gps.ground_speed/100.0, dcm.yaw_sensor, current_loc.alt/100.0, |
|
climb_rate, (int)rc[CH_THROTTLE]->servo_out); |
|
break; |
|
} |
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE |
|
case MSG_RAW_IMU: |
|
{ |
|
Vector3f accel = imu.get_accel(); |
|
Vector3f gyro = imu.get_gyro(); |
|
//Serial.printf_P(PSTR("sending accel: %f %f %f\n"), accel.x, accel.y, accel.z); |
|
//Serial.printf_P(PSTR("sending gyro: %f %f %f\n"), gyro.x, gyro.y, gyro.z); |
|
mavlink_msg_raw_imu_send(chan,timeStamp, |
|
accel.x*1000.0/gravity,accel.y*1000.0/gravity,accel.z*1000.0/gravity, |
|
gyro.x*1000.0,gyro.y*1000.0,gyro.z*1000.0, |
|
compass.mag_x,compass.mag_y,compass.mag_z); |
|
mavlink_msg_raw_pressure_send(chan,timeStamp, |
|
adc.Ch(AIRSPEED_CH),barometer.RawPress,0,0); |
|
break; |
|
} |
|
#endif // HIL_PROTOCOL != HIL_PROTOCOL_ATTITUDE |
|
|
|
case MSG_GPS_STATUS: |
|
{ |
|
mavlink_msg_gps_status_send(chan,g_gps.num_sats,NULL,NULL,NULL,NULL,NULL); |
|
break; |
|
} |
|
|
|
case MSG_CURRENT_WAYPOINT: |
|
{ |
|
mavlink_msg_waypoint_current_send(chan,g.waypoint_index); |
|
break; |
|
} |
|
|
|
defualt: |
|
break; |
|
} |
|
} |
|
|
|
void mavlink_send_text(mavlink_channel_t chan, uint8_t severity, const char *str) |
|
{ |
|
mavlink_msg_statustext_send(chan,severity,(const int8_t*)str); |
|
} |
|
|
|
void mavlink_acknowledge(mavlink_channel_t chan, uint8_t id, uint8_t sum1, uint8_t sum2) |
|
{ |
|
} |
|
|
|
#endif // mavlink in use |
|
|
|
#endif // inclusion guard
|
|
|