Merge branch 'sensor_load' into cmake-2

src/modules/mavlink/mavlink_main.cpp

@@ -1659,7 +1659,7 @@ Mavlink::task_main(int argc, char *argv[])
 	switch (_mode) {
 	case MAVLINK_MODE_NORMAL:
 		configure_stream("SYS_STATUS", 1.0f);
-		configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
+		configure_stream("HOME_POSITION", 0.5f);
 		configure_stream("HIGHRES_IMU", 2.0f);
 		configure_stream("ATTITUDE", 20.0f);
 		configure_stream("VFR_HUD", 8.0f);
@@ -1683,6 +1683,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("GLOBAL_POSITION_INT", 50.0f);
 		configure_stream("LOCAL_POSITION_NED", 30.0f);
 		configure_stream("CAMERA_CAPTURE", 2.0f);
+		configure_stream("HOME_POSITION", 0.5f);
 		configure_stream("ATTITUDE_TARGET", 10.0f);
 		configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
 		configure_stream("POSITION_TARGET_LOCAL_NED", 10.0f);
@@ -1705,6 +1706,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("VFR_HUD", 5.0f);
 		configure_stream("GPS_RAW_INT", 1.0f);
 		configure_stream("GLOBAL_POSITION_INT", 10.0f);
+		configure_stream("HOME_POSITION", 0.5f);
 		configure_stream("ATTITUDE_TARGET", 10.0f);
 		configure_stream("BATTERY_STATUS", 1.0f);
 		configure_stream("SYSTEM_TIME", 1.0f);
@@ -1716,7 +1718,7 @@ Mavlink::task_main(int argc, char *argv[])
 	case MAVLINK_MODE_CONFIG:
 		// Enable a number of interesting streams we want via USB
 		configure_stream("SYS_STATUS", 1.0f);
-		configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
+		configure_stream("HOME_POSITION", 0.5f);
 		configure_stream("GLOBAL_POSITION_INT", 10.0f);
 		configure_stream("ATTITUDE_TARGET", 8.0f);
 		configure_stream("PARAM_VALUE", 300.0f);

src/modules/mavlink/mavlink_messages.cpp

@@ -1326,43 +1326,43 @@ protected:
 };
 
 
-class MavlinkStreamGPSGlobalOrigin : public MavlinkStream
+class MavlinkStreamHomePosition : public MavlinkStream
 {
 public:
 	const char *get_name() const
 	{
-		return MavlinkStreamGPSGlobalOrigin::get_name_static();
+		return MavlinkStreamHomePosition::get_name_static();
 	}
 
 	static const char *get_name_static()
 	{
-		return "GPS_GLOBAL_ORIGIN";
+		return "HOME_POSITION";
 	}
 
 	uint8_t get_id()
 	{
-		return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
+		return MAVLINK_MSG_ID_HOME_POSITION;
 	}
 
 	static MavlinkStream *new_instance(Mavlink *mavlink)
 	{
-		return new MavlinkStreamGPSGlobalOrigin(mavlink);
+		return new MavlinkStreamHomePosition(mavlink);
 	}
 
 	unsigned get_size()
 	{
-		return _home_sub->is_published() ? (MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+		return _home_sub->is_published() ? (MAVLINK_MSG_ID_HOME_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
 private:
 	MavlinkOrbSubscription *_home_sub;
 
 	/* do not allow top copying this class */
-	MavlinkStreamGPSGlobalOrigin(MavlinkStreamGPSGlobalOrigin &);
-	MavlinkStreamGPSGlobalOrigin& operator = (const MavlinkStreamGPSGlobalOrigin &);
+	MavlinkStreamHomePosition(MavlinkStreamHomePosition &);
+	MavlinkStreamHomePosition& operator = (const MavlinkStreamHomePosition &);
 
 protected:
-	explicit MavlinkStreamGPSGlobalOrigin(Mavlink *mavlink) : MavlinkStream(mavlink),
+	explicit MavlinkStreamHomePosition(Mavlink *mavlink) : MavlinkStream(mavlink),
 		_home_sub(_mavlink->add_orb_subscription(ORB_ID(home_position)))
 	{}
 
@@ -1374,13 +1374,26 @@ protected:
 			struct home_position_s home;
 
 			if (_home_sub->update(&home)) {
-				mavlink_gps_global_origin_t msg;
+				mavlink_home_position_t msg;
 
 				msg.latitude = home.lat * 1e7;
 				msg.longitude = home.lon * 1e7;
 				msg.altitude = home.alt * 1e3f;
 
-				_mavlink->send_message(MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, &msg);
+				msg.x = home.x;
+				msg.y = home.y;
+				msg.z = home.z;
+
+				msg.q[0] = 1.0f;
+				msg.q[1] = 0.0f;
+				msg.q[2] = 0.0f;
+				msg.q[3] = 0.0f;
+
+				msg.approach_x = 0.0f;
+				msg.approach_y = 0.0f;
+				msg.approach_z = 0.0f;
+
+				_mavlink->send_message(MAVLINK_MSG_ID_HOME_POSITION, &msg);
 			}
 		}
 	}
@@ -2437,7 +2450,7 @@ const StreamListItem *streams_list[] = {
 	new StreamListItem(&MavlinkStreamGlobalPositionInt::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static),
 	new StreamListItem(&MavlinkStreamLocalPositionNED::new_instance, &MavlinkStreamLocalPositionNED::get_name_static),
 	new StreamListItem(&MavlinkStreamAttPosMocap::new_instance, &MavlinkStreamAttPosMocap::get_name_static),
-	new StreamListItem(&MavlinkStreamGPSGlobalOrigin::new_instance, &MavlinkStreamGPSGlobalOrigin::get_name_static),
+	new StreamListItem(&MavlinkStreamHomePosition::new_instance, &MavlinkStreamHomePosition::get_name_static),
 	new StreamListItem(&MavlinkStreamServoOutputRaw<0>::new_instance, &MavlinkStreamServoOutputRaw<0>::get_name_static),
 	new StreamListItem(&MavlinkStreamServoOutputRaw<1>::new_instance, &MavlinkStreamServoOutputRaw<1>::get_name_static),
 	new StreamListItem(&MavlinkStreamServoOutputRaw<2>::new_instance, &MavlinkStreamServoOutputRaw<2>::get_name_static),

src/modules/mavlink/mavlink_receiver.cpp

@@ -307,6 +307,10 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 		} 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) {
@@ -363,6 +367,13 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
 			/* 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) {