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zr-v4/Tools/AntennaTracker/GCS_Mavlink.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS)
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
// true when we have received at least 1 MAVLink packet
static bool mavlink_active;
// check if a message will fit in the payload space available
#define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_ ## id ## _LEN) return false
/*
* !!NOTE!!
*
* the use of NOINLINE separate functions for each message type avoids
* a compiler bug in gcc that would cause it to use far more stack
* space than is needed. Without the NOINLINE we use the sum of the
* stack needed for each message type. Please be careful to follow the
* pattern below when adding any new messages
*/
static NOINLINE void send_heartbeat(mavlink_channel_t chan)
{
mavlink_msg_heartbeat_send(
chan,
MAV_TYPE_ANTENNA_TRACKER,
MAV_AUTOPILOT_ARDUPILOTMEGA,
0,
0,
0);
}
static NOINLINE void send_attitude(mavlink_channel_t chan)
{
Vector3f omega = ahrs.get_gyro();
mavlink_msg_attitude_send(
chan,
hal.scheduler->millis(),
ahrs.roll,
ahrs.pitch,
ahrs.yaw,
omega.x,
omega.y,
omega.z);
}
static void NOINLINE send_location(mavlink_channel_t chan)
{
uint32_t fix_time;
if (g_gps->status() >= GPS::GPS_OK_FIX_2D) {
fix_time = g_gps->last_fix_time;
} else {
fix_time = hal.scheduler->millis();
}
Location loc;
ahrs.get_position(loc);
mavlink_msg_global_position_int_send(
chan,
fix_time,
loc.lat, // in 1E7 degrees
loc.lng, // in 1E7 degrees
g_gps->altitude_cm * 10, // millimeters above sea level
0,
g_gps->velocity_north() * 100, // X speed cm/s (+ve North)
g_gps->velocity_east() * 100, // Y speed cm/s (+ve East)
g_gps->velocity_down() * -100, // Z speed cm/s (+ve up)
ahrs.yaw_sensor);
}
static void NOINLINE send_gps_raw(mavlink_channel_t chan)
{
mavlink_msg_gps_raw_int_send(
chan,
g_gps->last_fix_time*(uint64_t)1000,
g_gps->status(),
g_gps->latitude, // in 1E7 degrees
g_gps->longitude, // in 1E7 degrees
g_gps->altitude_cm * 10, // in mm
g_gps->hdop,
65535,
g_gps->ground_speed_cm, // cm/s
g_gps->ground_course_cd, // 1/100 degrees,
g_gps->num_sats);
}
static void NOINLINE send_radio_out(mavlink_channel_t chan)
{
mavlink_msg_servo_output_raw_send(
chan,
hal.scheduler->micros(),
0, // port
hal.rcout->read(0),
hal.rcout->read(1),
hal.rcout->read(2),
hal.rcout->read(3),
hal.rcout->read(4),
hal.rcout->read(5),
hal.rcout->read(6),
hal.rcout->read(7));
}
static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
{
Vector3f accel = ins.get_accel();
Vector3f gyro = ins.get_gyro();
mavlink_msg_raw_imu_send(
chan,
hal.scheduler->micros(),
accel.x * 1000.0 / GRAVITY_MSS,
accel.y * 1000.0 / GRAVITY_MSS,
accel.z * 1000.0 / GRAVITY_MSS,
gyro.x * 1000.0,
gyro.y * 1000.0,
gyro.z * 1000.0,
compass.mag_x,
compass.mag_y,
compass.mag_z);
}
static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
{
float pressure = barometer.get_pressure();
mavlink_msg_scaled_pressure_send(
chan,
hal.scheduler->millis(),
pressure*0.01f, // hectopascal
(pressure - barometer.get_ground_pressure())*0.01f, // hectopascal
barometer.get_temperature()*100); // 0.01 degrees C
}
static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
{
// run this message at a much lower rate - otherwise it
// pointlessly wastes quite a lot of bandwidth
static uint8_t counter;
if (counter++ < 10) {
return;
}
counter = 0;
Vector3f mag_offsets = compass.get_offsets();
Vector3f accel_offsets = ins.get_accel_offsets();
Vector3f gyro_offsets = ins.get_gyro_offsets();
mavlink_msg_sensor_offsets_send(chan,
mag_offsets.x,
mag_offsets.y,
mag_offsets.z,
compass.get_declination(),
barometer.get_pressure(),
barometer.get_temperature()*100,
gyro_offsets.x,
gyro_offsets.y,
gyro_offsets.z,
accel_offsets.x,
accel_offsets.y,
accel_offsets.z);
}
static void NOINLINE send_ahrs(mavlink_channel_t chan)
{
Vector3f omega_I = ahrs.get_gyro_drift();
mavlink_msg_ahrs_send(
chan,
omega_I.x,
omega_I.y,
omega_I.z,
0,
0,
ahrs.get_error_rp(),
ahrs.get_error_yaw());
}
static void NOINLINE send_hwstatus(mavlink_channel_t chan)
{
mavlink_msg_hwstatus_send(
chan,
0,
hal.i2c->lockup_count());
}
static void NOINLINE send_statustext(mavlink_channel_t chan)
{
mavlink_statustext_t *s = (chan == MAVLINK_COMM_0?&gcs0.pending_status:&gcs3.pending_status);
mavlink_msg_statustext_send(
chan,
s->severity,
s->text);
}
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
{
mavlink_msg_nav_controller_output_send(
chan,
0,
nav_status.pitch,
nav_status.bearing,
nav_status.bearing,
nav_status.distance,
0,
0,
0);
}
// try to send a message, return false if it won't fit in the serial tx buffer
static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
{
int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
switch (id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
send_heartbeat(chan);
return true;
case MSG_ATTITUDE:
CHECK_PAYLOAD_SIZE(ATTITUDE);
send_attitude(chan);
break;
case MSG_LOCATION:
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
send_location(chan);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
send_nav_controller_output(chan);
break;
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
send_gps_raw(chan);
break;
case MSG_RADIO_OUT:
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
send_radio_out(chan);
break;
case MSG_RAW_IMU1:
CHECK_PAYLOAD_SIZE(RAW_IMU);
send_raw_imu1(chan);
break;
case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
send_raw_imu2(chan);
break;
case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
send_raw_imu3(chan);
break;
case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_param_send();
} else if (gcs3.initialised) {
gcs3.queued_param_send();
}
break;
case MSG_STATUSTEXT:
CHECK_PAYLOAD_SIZE(STATUSTEXT);
send_statustext(chan);
break;
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs(chan);
break;
case MSG_HWSTATUS:
CHECK_PAYLOAD_SIZE(HWSTATUS);
send_hwstatus(chan);
break;
case MSG_SERVO_OUT:
case MSG_EXTENDED_STATUS1:
case MSG_EXTENDED_STATUS2:
case MSG_RETRY_DEFERRED:
break; // just here to prevent a warning
}
return true;
}
#define MAX_DEFERRED_MESSAGES MSG_RETRY_DEFERRED
static struct mavlink_queue {
enum ap_message deferred_messages[MAX_DEFERRED_MESSAGES];
uint8_t next_deferred_message;
uint8_t num_deferred_messages;
} mavlink_queue[2];
// send a message using mavlink
static void mavlink_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
{
uint8_t i, nextid;
struct mavlink_queue *q = &mavlink_queue[(uint8_t)chan];
// see if we can send the deferred messages, if any
while (q->num_deferred_messages != 0) {
if (!mavlink_try_send_message(chan,
q->deferred_messages[q->next_deferred_message],
packet_drops)) {
break;
}
q->next_deferred_message++;
if (q->next_deferred_message == MAX_DEFERRED_MESSAGES) {
q->next_deferred_message = 0;
}
q->num_deferred_messages--;
}
if (id == MSG_RETRY_DEFERRED) {
return;
}
// this message id might already be deferred
for (i=0, nextid = q->next_deferred_message; i < q->num_deferred_messages; i++) {
if (q->deferred_messages[nextid] == id) {
// its already deferred, discard
return;
}
nextid++;
if (nextid == MAX_DEFERRED_MESSAGES) {
nextid = 0;
}
}
if (q->num_deferred_messages != 0 ||
!mavlink_try_send_message(chan, id, packet_drops)) {
// can't send it now, so defer it
if (q->num_deferred_messages == MAX_DEFERRED_MESSAGES) {
// the defer buffer is full, discard
return;
}
nextid = q->next_deferred_message + q->num_deferred_messages;
if (nextid >= MAX_DEFERRED_MESSAGES) {
nextid -= MAX_DEFERRED_MESSAGES;
}
q->deferred_messages[nextid] = id;
q->num_deferred_messages++;
}
}
void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char *str)
{
if (severity == SEVERITY_LOW) {
// send via the deferred queuing system
mavlink_statustext_t *s = (chan == MAVLINK_COMM_0?&gcs0.pending_status:&gcs3.pending_status);
s->severity = (uint8_t)severity;
strncpy((char *)s->text, str, sizeof(s->text));
mavlink_send_message(chan, MSG_STATUSTEXT, 0);
} else {
// send immediately
mavlink_msg_statustext_send(chan, severity, str);
}
}
/*
default stream rates to 1Hz
*/
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate
// @Description: Raw sensor stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 1),
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
// @Description: Extended status stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 1),
// @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station
// @Description: RC Channel stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 1),
// @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station
// @Description: Raw Control stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 1),
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
// @Description: Position stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 1),
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
// @Description: Extra data type 1 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 1),
// @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station
// @Description: Extra data type 2 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 1),
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
// @Description: Extra data type 3 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 1),
// @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station
// @Description: Parameter stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 10),
AP_GROUPEND
};
GCS_MAVLINK::GCS_MAVLINK() :
packet_drops(0)
{
AP_Param::setup_object_defaults(this, var_info);
}
void
GCS_MAVLINK::init(AP_HAL::UARTDriver *port)
{
GCS_Class::init(port);
if (port == (AP_HAL::BetterStream*)hal.uartA) {
mavlink_comm_0_port = port;
chan = MAVLINK_COMM_0;
}else{
mavlink_comm_1_port = port;
chan = MAVLINK_COMM_1;
}
_queued_parameter = NULL;
}
void
GCS_MAVLINK::update(void)
{
// receive new packets
mavlink_message_t msg;
mavlink_status_t status;
status.packet_rx_drop_count = 0;
// process received bytes
uint16_t nbytes = comm_get_available(chan);
for (uint16_t i=0; i<nbytes; i++)
{
uint8_t c = comm_receive_ch(chan);
// Try to get a new message
if (mavlink_parse_char(chan, c, &msg, &status)) {
// we exclude radio packets to make it possible to use the
// CLI over the radio
if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) {
mavlink_active = true;
}
handleMessage(&msg);
}
}
// Update packet drops counter
packet_drops += status.packet_rx_drop_count;
}
// see if we should send a stream now. Called at 50Hz
bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
{
if (stream_num >= NUM_STREAMS) {
return false;
}
float rate = (uint8_t)streamRates[stream_num].get();
// send at a much lower rate during parameter sends
if (_queued_parameter != NULL) {
rate *= 0.25;
}
if (rate <= 0) {
return false;
}
if (stream_ticks[stream_num] == 0) {
// we're triggering now, setup the next trigger point
if (rate > 50) {
rate = 50;
}
stream_ticks[stream_num] = (50 / rate) + stream_slowdown;
return true;
}
// count down at 50Hz
stream_ticks[stream_num]--;
return false;
}
void
GCS_MAVLINK::data_stream_send(void)
{
if (_queued_parameter != NULL) {
if (streamRates[STREAM_PARAMS].get() <= 0) {
streamRates[STREAM_PARAMS].set(10);
}
if (stream_trigger(STREAM_PARAMS)) {
send_message(MSG_NEXT_PARAM);
}
}
if (in_mavlink_delay) {
// don't send any other stream types while in the delay callback
return;
}
if (stream_trigger(STREAM_RAW_SENSORS)) {
send_message(MSG_RAW_IMU1);
send_message(MSG_RAW_IMU2);
send_message(MSG_RAW_IMU3);
}
if (stream_trigger(STREAM_EXTENDED_STATUS)) {
send_message(MSG_EXTENDED_STATUS1);
send_message(MSG_EXTENDED_STATUS2);
send_message(MSG_NAV_CONTROLLER_OUTPUT);
send_message(MSG_GPS_RAW);
}
if (stream_trigger(STREAM_POSITION)) {
send_message(MSG_LOCATION);
}
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
send_message(MSG_SERVO_OUT);
}
if (stream_trigger(STREAM_RC_CHANNELS)) {
send_message(MSG_RADIO_OUT);
}
if (stream_trigger(STREAM_EXTRA1)) {
send_message(MSG_ATTITUDE);
}
if (stream_trigger(STREAM_EXTRA3)) {
send_message(MSG_AHRS);
send_message(MSG_HWSTATUS);
}
}
void
GCS_MAVLINK::send_message(enum ap_message id)
{
mavlink_send_message(chan,id, packet_drops);
}
void
GCS_MAVLINK::send_text_P(gcs_severity severity, const prog_char_t *str)
{
mavlink_statustext_t m;
uint8_t i;
for (i=0; i<sizeof(m.text); i++) {
m.text[i] = pgm_read_byte((const prog_char *)(str++));
if (m.text[i] == '\0') {
break;
}
}
if (i < sizeof(m.text)) m.text[i] = 0;
mavlink_send_text(chan, severity, (const char *)m.text);
}
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
// decode
mavlink_request_data_stream_t packet;
mavlink_msg_request_data_stream_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
int16_t freq = 0; // packet frequency
if (packet.start_stop == 0)
freq = 0; // stop sending
else if (packet.start_stop == 1)
freq = packet.req_message_rate; // start sending
else
break;
switch (packet.req_stream_id) {
case MAV_DATA_STREAM_ALL:
// note that we don't set STREAM_PARAMS - that is internal only
for (uint8_t i=0; i<STREAM_PARAMS; i++) {
streamRates[i].set_and_save_ifchanged(freq);
}
break;
case MAV_DATA_STREAM_RAW_SENSORS:
streamRates[STREAM_RAW_SENSORS].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_EXTENDED_STATUS:
streamRates[STREAM_EXTENDED_STATUS].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_RC_CHANNELS:
streamRates[STREAM_RC_CHANNELS].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_RAW_CONTROLLER:
streamRates[STREAM_RAW_CONTROLLER].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_POSITION:
streamRates[STREAM_POSITION].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_EXTRA1:
streamRates[STREAM_EXTRA1].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_EXTRA2:
streamRates[STREAM_EXTRA2].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_EXTRA3:
streamRates[STREAM_EXTRA3].set_and_save_ifchanged(freq);
break;
}
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// decode
mavlink_param_request_list_t packet;
mavlink_msg_param_request_list_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// Start sending parameters - next call to ::update will kick the first one out
_queued_parameter = AP_Param::first(&_queued_parameter_token, &_queued_parameter_type);
_queued_parameter_index = 0;
_queued_parameter_count = _count_parameters();
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
// decode
mavlink_param_request_read_t packet;
mavlink_msg_param_request_read_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
enum ap_var_type p_type;
AP_Param *vp;
char param_name[AP_MAX_NAME_SIZE+1];
if (packet.param_index != -1) {
AP_Param::ParamToken token;
vp = AP_Param::find_by_index(packet.param_index, &p_type, &token);
if (vp == NULL) {
gcs_send_text_fmt(PSTR("Unknown parameter index %d"), packet.param_index);
break;
}
vp->copy_name_token(token, param_name, AP_MAX_NAME_SIZE, true);
param_name[AP_MAX_NAME_SIZE] = 0;
} else {
strncpy(param_name, packet.param_id, AP_MAX_NAME_SIZE);
param_name[AP_MAX_NAME_SIZE] = 0;
vp = AP_Param::find(param_name, &p_type);
if (vp == NULL) {
gcs_send_text_fmt(PSTR("Unknown parameter %.16s"), packet.param_id);
break;
}
}
float value = vp->cast_to_float(p_type);
mavlink_msg_param_value_send(
chan,
param_name,
value,
mav_var_type(p_type),
_count_parameters(),
packet.param_index);
break;
}
case MAVLINK_MSG_ID_PARAM_SET:
{
AP_Param *vp;
enum ap_var_type var_type;
// decode
mavlink_param_set_t packet;
mavlink_msg_param_set_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
// set parameter
char key[AP_MAX_NAME_SIZE+1];
strncpy(key, (char *)packet.param_id, AP_MAX_NAME_SIZE);
key[AP_MAX_NAME_SIZE] = 0;
// find the requested parameter
vp = AP_Param::find(key, &var_type);
if ((NULL != vp) && // exists
!isnan(packet.param_value) && // not nan
!isinf(packet.param_value)) { // not inf
// add a small amount before casting parameter values
// from float to integer to avoid truncating to the
// next lower integer value.
float rounding_addition = 0.01;
// handle variables with standard type IDs
if (var_type == AP_PARAM_FLOAT) {
((AP_Float *)vp)->set_and_save(packet.param_value);
} else if (var_type == AP_PARAM_INT32) {
if (packet.param_value < 0) rounding_addition = -rounding_addition;
float v = packet.param_value+rounding_addition;
v = constrain_float(v, -2147483648.0, 2147483647.0);
((AP_Int32 *)vp)->set_and_save(v);
} else if (var_type == AP_PARAM_INT16) {
if (packet.param_value < 0) rounding_addition = -rounding_addition;
float v = packet.param_value+rounding_addition;
v = constrain_float(v, -32768, 32767);
((AP_Int16 *)vp)->set_and_save(v);
} else if (var_type == AP_PARAM_INT8) {
if (packet.param_value < 0) rounding_addition = -rounding_addition;
float v = packet.param_value+rounding_addition;
v = constrain_float(v, -128, 127);
((AP_Int8 *)vp)->set_and_save(v);
} else {
// we don't support mavlink set on this parameter
break;
}
// Report back the new value if we accepted the change
// we send the value we actually set, which could be
// different from the value sent, in case someone sent
// a fractional value to an integer type
mavlink_msg_param_value_send(
chan,
key,
vp->cast_to_float(var_type),
mav_var_type(var_type),
_count_parameters(),
-1); // XXX we don't actually know what its index is...
#if LOGGING_ENABLED == ENABLED
DataFlash.Log_Write_Parameter(key, vp->cast_to_float(var_type));
#endif
}
break;
} // end case
case MAVLINK_MSG_ID_HEARTBEAT:
{
if (msg->sysid != g.sysid_my_gcs) break;
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: {
// decode
mavlink_global_position_int_t packet;
mavlink_msg_global_position_int_decode(msg, &packet);
tracking_update_position(packet);
break;
}
default:
break;
} // end switch
} // end handle mavlink
uint16_t
GCS_MAVLINK::_count_parameters()
{
// if we haven't cached the parameter count yet...
if (0 == _parameter_count) {
AP_Param *vp;
AP_Param::ParamToken token;
vp = AP_Param::first(&token, NULL);
do {
_parameter_count++;
} while (NULL != (vp = AP_Param::next_scalar(&token, NULL)));
}
return _parameter_count;
}
/**
* @brief Send the next pending parameter, called from deferred message
* handling code
*/
void
GCS_MAVLINK::queued_param_send()
{
if (_queued_parameter == NULL) {
return;
}
uint16_t bytes_allowed;
uint8_t count;
uint32_t tnow = hal.scheduler->millis();
// use at most 30% of bandwidth on parameters. The constant 26 is
// 1/(1000 * 1/8 * 0.001 * 0.3)
bytes_allowed = g.serial3_baud * (tnow - _queued_parameter_send_time_ms) * 26;
if (bytes_allowed > comm_get_txspace(chan)) {
bytes_allowed = comm_get_txspace(chan);
}
count = bytes_allowed / (MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
while (_queued_parameter != NULL && count--) {
AP_Param *vp;
float value;
// copy the current parameter and prepare to move to the next
vp = _queued_parameter;
// if the parameter can be cast to float, report it here and break out of the loop
value = vp->cast_to_float(_queued_parameter_type);
char param_name[AP_MAX_NAME_SIZE];
vp->copy_name_token(_queued_parameter_token, param_name, sizeof(param_name), true);
mavlink_msg_param_value_send(
chan,
param_name,
value,
mav_var_type(_queued_parameter_type),
_queued_parameter_count,
_queued_parameter_index);
_queued_parameter = AP_Param::next_scalar(&_queued_parameter_token, &_queued_parameter_type);
_queued_parameter_index++;
}
_queued_parameter_send_time_ms = tnow;
}
/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow
* MAVLink to process packets while waiting for the initialisation to
* complete
*/
static void mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs0.initialised) return;
in_mavlink_delay = true;
uint32_t tnow = hal.scheduler->millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs_send_message(MSG_HEARTBEAT);
gcs_send_message(MSG_EXTENDED_STATUS1);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
notify.update();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text_P(SEVERITY_LOW, PSTR("Initialising APM..."));
}
in_mavlink_delay = false;
}
/*
* send a message on both GCS links
*/
static void gcs_send_message(enum ap_message id)
{
gcs0.send_message(id);
if (gcs3.initialised) {
gcs3.send_message(id);
}
}
/*
* send data streams in the given rate range on both links
*/
static void gcs_data_stream_send(void)
{
gcs0.data_stream_send();
if (gcs3.initialised) {
gcs3.data_stream_send();
}
}
/*
* look for incoming commands on the GCS links
*/
static void gcs_update(void)
{
gcs0.update();
if (gcs3.initialised) {
gcs3.update();
}
}
static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
{
gcs0.send_text_P(severity, str);
if (gcs3.initialised) {
gcs3.send_text_P(severity, str);
}
#if LOGGING_ENABLED == ENABLED
DataFlash.Log_Write_Message_P(str);
#endif
}
/*
* send a low priority formatted message to the GCS
* only one fits in the queue, so if you send more than one before the
* last one gets into the serial buffer then the old one will be lost
*/
void gcs_send_text_fmt(const prog_char_t *fmt, ...)
{
va_list arg_list;
gcs0.pending_status.severity = (uint8_t)SEVERITY_LOW;
va_start(arg_list, fmt);
hal.util->vsnprintf_P((char *)gcs0.pending_status.text,
sizeof(gcs0.pending_status.text), fmt, arg_list);
va_end(arg_list);
#if LOGGING_ENABLED == ENABLED
DataFlash.Log_Write_Message(gcs0.pending_status.text);
#endif
gcs3.pending_status = gcs0.pending_status;
mavlink_send_message(MAVLINK_COMM_0, MSG_STATUSTEXT, 0);
if (gcs3.initialised) {
mavlink_send_message(MAVLINK_COMM_1, MSG_STATUSTEXT, 0);
}
}