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mavlink_receiver.cpp
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/****************************************************************************
*
* Copyright (c) 2012-2018 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 <px4_posix.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 <drivers/drv_tone_alarm.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#ifndef __PX4_POSIX
#include <termios.h>
#endif
#ifdef CONFIG_NET
#include <net/if.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#endif
#include <errno.h>
#include <stdlib.h>
#include <poll.h>
#include <sys/stat.h>
#ifdef __PX4_DARWIN
#include <sys/param.h>
#include <sys/mount.h>
#else
#include <sys/statfs.h>
#endif
#include <airspeed/airspeed.h>
#include <ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <conversion/rotation.h>
#include <parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <commander/px4_custom_mode.h>
#include <uORB/topics/radio_status.h>
#include <uORB/topics/vehicle_command_ack.h>
#include "mavlink_bridge_header.h"
#include "mavlink_receiver.h"
#include "mavlink_main.h"
#include "mavlink_command_sender.h"
#ifdef CONFIG_NET
#define MAVLINK_RECEIVER_NET_ADDED_STACK 1360
#else
#define MAVLINK_RECEIVER_NET_ADDED_STACK 0
#endif
using matrix::wrap_2pi;
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mavlink(parent),
_mission_manager(parent),
_parameters_manager(parent),
_mavlink_ftp(parent),
_mavlink_log_handler(parent),
_mavlink_timesync(parent),
_status{},
_hil_local_pos{},
_hil_land_detector{},
_control_mode{},
_global_pos_pub(nullptr),
_local_pos_pub(nullptr),
_attitude_pub(nullptr),
_gps_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_pubs{nullptr, nullptr, nullptr, nullptr},
_att_sp_pub(nullptr),
_rates_sp_pub(nullptr),
_pos_sp_triplet_pub(nullptr),
_mocap_odometry_pub(nullptr),
_visual_odometry_pub(nullptr),
_radio_status_pub(nullptr),
_ping_pub(nullptr),
_rc_pub(nullptr),
_manual_pub(nullptr),
_obstacle_distance_pub(nullptr),
_trajectory_waypoint_pub(nullptr),
_land_detector_pub(nullptr),
_follow_target_pub(nullptr),
_landing_target_pose_pub(nullptr),
_transponder_report_pub(nullptr),
_collision_report_pub(nullptr),
_debug_key_value_pub(nullptr),
_debug_value_pub(nullptr),
_debug_vect_pub(nullptr),
_gps_inject_data_pub(nullptr),
_command_ack_pub(nullptr),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_actuator_armed_sub(orb_subscribe(ORB_ID(actuator_armed))),
_vehicle_attitude_sub(orb_subscribe(ORB_ID(vehicle_attitude))),
_global_ref_timestamp(0),
_hil_frames(0),
_old_timestamp(0),
_hil_local_proj_inited(0),
_hil_local_alt0(0.0f),
_hil_local_proj_ref{},
_offboard_control_mode{},
_orb_class_instance(-1),
_mom_switch_pos{},
_mom_switch_state(0),
_p_bat_emergen_thr(param_find("BAT_EMERGEN_THR")),
_p_bat_crit_thr(param_find("BAT_CRIT_THR")),
_p_bat_low_thr(param_find("BAT_LOW_THR")),
_p_flow_rot(param_find("SENS_FLOW_ROT")),
_p_flow_maxr(param_find("SENS_FLOW_MAXR")),
_p_flow_minhgt(param_find("SENS_FLOW_MINHGT")),
_p_flow_maxhgt(param_find("SENS_FLOW_MAXHGT"))
{
/* Make the attitude quaternion valid */
_att.q[0] = 1.0f;
}
MavlinkReceiver::~MavlinkReceiver()
{
orb_unsubscribe(_control_mode_sub);
orb_unsubscribe(_actuator_armed_sub);
orb_unsubscribe(_vehicle_attitude_sub);
}
void MavlinkReceiver::acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, uint8_t result)
{
vehicle_command_ack_s command_ack = {};
command_ack.timestamp = hrt_absolute_time();
command_ack.command = command;
command_ack.result = result;
command_ack.target_system = sysid;
command_ack.target_component = compid;
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
vehicle_command_ack_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
}
}
void
MavlinkReceiver::handle_message(mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_COMMAND_LONG:
handle_message_command_long(msg);
break;
case MAVLINK_MSG_ID_COMMAND_INT:
handle_message_command_int(msg);
break;
case MAVLINK_MSG_ID_COMMAND_ACK:
handle_message_command_ack(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:
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_ODOMETRY:
handle_message_odometry(msg);
break;
case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
handle_message_gps_global_origin(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_DISTANCE_SENSOR:
handle_message_distance_sensor(msg);
break;
case MAVLINK_MSG_ID_FOLLOW_TARGET:
handle_message_follow_target(msg);
break;
case MAVLINK_MSG_ID_LANDING_TARGET:
handle_message_landing_target(msg);
break;
case MAVLINK_MSG_ID_ADSB_VEHICLE:
handle_message_adsb_vehicle(msg);
break;
case MAVLINK_MSG_ID_COLLISION:
handle_message_collision(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;
case MAVLINK_MSG_ID_LOGGING_ACK:
handle_message_logging_ack(msg);
break;
case MAVLINK_MSG_ID_PLAY_TUNE:
handle_message_play_tune(msg);
break;
case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
handle_message_obstacle_distance(msg);
break;
case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS:
handle_message_trajectory_representation_waypoints(msg);
break;
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
handle_message_named_value_float(msg);
break;
case MAVLINK_MSG_ID_DEBUG:
handle_message_debug(msg);
break;
case MAVLINK_MSG_ID_DEBUG_VECT:
handle_message_debug_vect(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:
case MAV_CMD_REQUEST_PROTOCOL_VERSION:
/* 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::send_flight_information()
{
mavlink_flight_information_t flight_info{};
param_t param_flight_uuid = param_find("COM_FLIGHT_UUID");
if (param_flight_uuid != PARAM_INVALID) {
int32_t flight_uuid;
param_get(param_flight_uuid, &flight_uuid);
flight_info.flight_uuid = (uint64_t)flight_uuid;
}
actuator_armed_s actuator_armed;
int ret = orb_copy(ORB_ID(actuator_armed), _actuator_armed_sub, &actuator_armed);
if (ret == 0 && actuator_armed.timestamp != 0) {
flight_info.arming_time_utc = flight_info.takeoff_time_utc = actuator_armed.armed_time_ms;
}
flight_info.time_boot_ms = hrt_absolute_time() / 1000;
mavlink_msg_flight_information_send_struct(_mavlink->get_channel(), &flight_info);
}
void
MavlinkReceiver::send_storage_information(int storage_id)
{
mavlink_storage_information_t storage_info{};
const char *microsd_dir = PX4_STORAGEDIR;
if (storage_id == 0 || storage_id == 1) { // request is for all or the first storage
storage_info.storage_id = 1;
struct statfs statfs_buf;
uint64_t total_bytes = 0;
uint64_t avail_bytes = 0;
if (statfs(microsd_dir, &statfs_buf) == 0) {
total_bytes = (uint64_t)statfs_buf.f_blocks * statfs_buf.f_bsize;
avail_bytes = (uint64_t)statfs_buf.f_bavail * statfs_buf.f_bsize;
}
if (total_bytes == 0) { // on NuttX we get 0 total bytes if no SD card is inserted
storage_info.storage_count = 0;
storage_info.status = 0; // not available
} else {
storage_info.storage_count = 1;
storage_info.status = 2; // available & formatted
storage_info.total_capacity = total_bytes / 1024. / 1024.;
storage_info.available_capacity = avail_bytes / 1024. / 1024.;
storage_info.used_capacity = (total_bytes - avail_bytes) / 1024. / 1024.;
}
} else {
// only one storage supported
storage_info.storage_id = storage_id;
storage_info.storage_count = 1;
}
storage_info.time_boot_ms = hrt_absolute_time() / 1000;
mavlink_msg_storage_information_send_struct(_mavlink->get_channel(), &storage_info);
}
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);
vehicle_command_s vcmd = {};
vcmd.timestamp = hrt_absolute_time();
/* 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 = (double)cmd_mavlink.param5;
vcmd.param6 = (double)cmd_mavlink.param6;
vcmd.param7 = cmd_mavlink.param7;
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;
vcmd.from_external = true;
handle_message_command_both(msg, cmd_mavlink, 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);
vehicle_command_s vcmd = {};
vcmd.timestamp = hrt_absolute_time();
/* 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;
vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
vcmd.param7 = cmd_mavlink.z;
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 = false;
vcmd.from_external = true;
handle_message_command_both(msg, cmd_mavlink, vcmd);
}
template <class T>
void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const T &cmd_mavlink,
const vehicle_command_s &vehicle_command)
{
bool target_ok = evaluate_target_ok(cmd_mavlink.command, cmd_mavlink.target_system, cmd_mavlink.target_component);
bool send_ack = true;
uint8_t result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
if (!target_ok) {
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_FAILED);
return;
}
if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
/* send autopilot version message */
_mavlink->send_autopilot_capabilites();
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_PROTOCOL_VERSION) {
/* send protocol version message */
_mavlink->send_protocol_version();
} 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) {
if (set_message_interval((int)(cmd_mavlink.param1 + 0.5f), cmd_mavlink.param2, cmd_mavlink.param3)) {
result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
}
} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
get_message_interval((int)cmd_mavlink.param1);
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_FLIGHT_INFORMATION) {
send_flight_information();
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_STORAGE_INFORMATION) {
if ((int)(cmd_mavlink.param2 + 0.5f) == 1) {
send_storage_information(cmd_mavlink.param1 + 0.5f);
}
} else {
send_ack = false;
if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
PX4_WARN("ignoring CMD with same SYS/COMP (%d/%d) ID", mavlink_system.sysid, mavlink_system.compid);
return;
}
if (cmd_mavlink.command == MAV_CMD_LOGGING_START) {
// check that we have enough bandwidth available: this is given by the configured logger topics
// and rates. The 5000 is somewhat arbitrary, but makes sure that we cannot enable log streaming
// on a radio link
if (_mavlink->get_data_rate() < 5000) {
send_ack = true;
result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
_mavlink->send_statustext_critical("Not enough bandwidth to enable log streaming");
} else {
// we already instanciate the streaming object, because at this point we know on which
// mavlink channel streaming was requested. But in fact it's possible that the logger is
// not even running. The main mavlink thread takes care of this by waiting for an ack
// from the logger.
_mavlink->try_start_ulog_streaming(msg->sysid, msg->compid);
}
} else if (cmd_mavlink.command == MAV_CMD_LOGGING_STOP) {
_mavlink->request_stop_ulog_streaming();
}
if (!send_ack) {
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vehicle_command, vehicle_command_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vehicle_command);
}
}
}
if (send_ack) {
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, result);
}
}
void
MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
{
mavlink_command_ack_t ack;
mavlink_msg_command_ack_decode(msg, &ack);
MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid);
vehicle_command_ack_s command_ack = {};
command_ack.timestamp = hrt_absolute_time();
command_ack.result_param2 = ack.result_param2;
command_ack.command = ack.command;
command_ack.result = ack.result;
command_ack.from_external = true;
command_ack.result_param1 = ack.progress;
command_ack.target_system = ack.target_system;
command_ack.target_component = ack.target_component;
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
vehicle_command_ack_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
}
// TODO: move it to the same place that sent the command
if (ack.result != MAV_RESULT_ACCEPTED && ack.result != MAV_RESULT_IN_PROGRESS) {
if (msg->compid == MAV_COMP_ID_CAMERA) {
PX4_WARN("Got unsuccessful result %d from camera", ack.result);
}
}
}
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);
/* read flow sensor parameters */
int32_t flow_rot_int;
param_get(_p_flow_rot, &flow_rot_int);
const enum Rotation flow_rot = (Rotation)flow_rot_int;
struct optical_flow_s f = {};
f.timestamp = _mavlink_timesync.sync_stamp(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;
param_get(_p_flow_maxr, &f.max_flow_rate);
param_get(_p_flow_minhgt, &f.min_ground_distance);
param_get(_p_flow_maxhgt, &f.max_ground_distance);
/* 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 = _mavlink_timesync.sync_stamp(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 = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
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 = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
d.id = 0;
d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
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);
union px4_custom_mode custom_mode;
custom_mode.data = new_mode.custom_mode;
vehicle_command_s vcmd = {};
vcmd.timestamp = hrt_absolute_time();
/* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = (float)new_mode.base_mode;
vcmd.param2 = (float)custom_mode.main_mode;
vcmd.param3 = (float)custom_mode.sub_mode;
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 = true;
vcmd.from_external = true;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
} 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 vehicle_odometry_s mocap_odom = {};
mocap_odom.timestamp = _mavlink_timesync.sync_stamp(mocap.time_usec);
mocap_odom.x = mocap.x;
mocap_odom.y = mocap.y;
mocap_odom.z = mocap.z;
mocap_odom.q[0] = mocap.q[0];
mocap_odom.q[1] = mocap.q[1];
mocap_odom.q[2] = mocap.q[2];
mocap_odom.q[3] = mocap.q[3];
const size_t URT_SIZE = sizeof(mocap_odom.pose_covariance) / sizeof(mocap_odom.pose_covariance[0]);
static_assert(URT_SIZE == (sizeof(mocap.covariance) / sizeof(mocap.covariance[0])),
"Odometry Pose Covariance matrix URT array size mismatch");
for (size_t i = 0; i < URT_SIZE; i++) {
mocap_odom.pose_covariance[i] = mocap.covariance[i];
}
mocap_odom.vx = NAN;
mocap_odom.vy = NAN;
mocap_odom.vz = NAN;
mocap_odom.rollspeed = NAN;
mocap_odom.pitchspeed = NAN;
mocap_odom.yawspeed = NAN;
mocap_odom.velocity_covariance[0] = NAN;
int instance_id = 0;
orb_publish_auto(ORB_ID(vehicle_mocap_odometry), &_mocap_odometry_pub, &mocap_odom, &instance_id, ORB_PRIO_HIGH);
}
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_alt_hold = (bool)(set_position_target_local_ned.type_mask & 0x4);
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) {
PX4_WARN("force setpoint not supported");
} else {
/* It's not a pure force setpoint: publish to setpoint triplet topic */
struct position_setpoint_triplet_s pos_sp_triplet = {};
pos_sp_triplet.timestamp = hrt_absolute_time();
pos_sp_triplet.previous.valid = false;
pos_sp_triplet.next.valid = false;
pos_sp_triplet.current.valid = true;
/* Order of statements matters. Takeoff can override loiter.
* See https://github.com/mavlink/mavlink/pull/670 for a broader conversation. */
if (is_loiter_sp) {
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
} else 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_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;
pos_sp_triplet.current.velocity_frame =
set_position_target_local_ned.coordinate_frame;
} else {
pos_sp_triplet.current.velocity_valid = false;
}
if (!offboard_control_mode.ignore_alt_hold) {