forked from ArduPilot/ardupilot
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathGCS_Mavlink.cpp
1418 lines (1256 loc) · 47.5 KB
/
GCS_Mavlink.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
#include "Copter.h"
#include "GCS_Mavlink.h"
/*
* !!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
*/
MAV_TYPE GCS_Copter::frame_type() const
{
if (copter.motors == nullptr) {
return MAV_TYPE_GENERIC;
}
return copter.motors->get_frame_mav_type();
}
MAV_MODE GCS_MAVLINK_Copter::base_mode() const
{
uint8_t _base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
// work out the base_mode. This value is not very useful
// for APM, but we calculate it as best we can so a generic
// MAVLink enabled ground station can work out something about
// what the MAV is up to. The actual bit values are highly
// ambiguous for most of the APM flight modes. In practice, you
// only get useful information from the custom_mode, which maps to
// the APM flight mode and has a well defined meaning in the
// ArduPlane documentation
switch (copter.flightmode->mode_number()) {
case Mode::Number::AUTO:
case Mode::Number::RTL:
case Mode::Number::LOITER:
case Mode::Number::AVOID_ADSB:
case Mode::Number::FOLLOW:
case Mode::Number::GUIDED:
case Mode::Number::CIRCLE:
case Mode::Number::POSHOLD:
case Mode::Number::BRAKE:
case Mode::Number::SMART_RTL:
_base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal
// positions", which APM does not currently do
break;
default:
break;
}
// all modes except INITIALISING have some form of manual
// override if stick mixing is enabled
_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
#if HIL_MODE != HIL_MODE_DISABLED
_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
#endif
// we are armed if we are not initialising
if (copter.motors != nullptr && copter.motors->armed()) {
_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
// indicate we have set a custom mode
_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
return (MAV_MODE)_base_mode;
}
uint32_t GCS_Copter::custom_mode() const
{
return (uint32_t)copter.flightmode->mode_number();
}
MAV_STATE GCS_MAVLINK_Copter::vehicle_system_status() const
{
// set system as critical if any failsafe have triggered
if (copter.any_failsafe_triggered()) {
return MAV_STATE_CRITICAL;
}
if (copter.ap.land_complete) {
return MAV_STATE_STANDBY;
}
return MAV_STATE_ACTIVE;
}
void GCS_MAVLINK_Copter::send_position_target_global_int()
{
Location target;
if (!copter.flightmode->get_wp(target)) {
return;
}
// convert altitude frame to AMSL (this may use the terrain database)
if (!target.change_alt_frame(Location::AltFrame::ABSOLUTE)) {
return;
}
mavlink_msg_position_target_global_int_send(
chan,
AP_HAL::millis(), // time_boot_ms
MAV_FRAME_GLOBAL, // targets are always global altitude
0xFFF8, // ignore everything except the x/y/z components
target.lat, // latitude as 1e7
target.lng, // longitude as 1e7
target.alt * 0.01f, // altitude is sent as a float
0.0f, // vx
0.0f, // vy
0.0f, // vz
0.0f, // afx
0.0f, // afy
0.0f, // afz
0.0f, // yaw
0.0f); // yaw_rate
}
void GCS_MAVLINK_Copter::send_position_target_local_ned()
{
#if MODE_GUIDED_ENABLED == ENABLED
if (!copter.flightmode->in_guided_mode()) {
return;
}
const ModeGuided::SubMode guided_mode = copter.mode_guided.submode();
Vector3f target_pos;
Vector3f target_vel;
uint16_t type_mask = 0;
switch (guided_mode) {
case ModeGuided::SubMode::Angle:
// we don't have a local target when in angle mode
return;
case ModeGuided::SubMode::WP:
type_mask = 0x0FF8; // ignore everything except position
target_pos = copter.wp_nav->get_wp_destination() * 0.01f; // convert to metres
break;
case ModeGuided::SubMode::Velocity:
type_mask = 0x0FC7; // ignore everything except velocity
target_vel = copter.flightmode->get_desired_velocity() * 0.01f; // convert to m/s
break;
case ModeGuided::SubMode::TakeOff:
case ModeGuided::SubMode::PosVel:
type_mask = 0x0FC0; // ignore everything except position & velocity
target_pos = copter.wp_nav->get_wp_destination() * 0.01f;
target_vel = copter.flightmode->get_desired_velocity() * 0.01f;
break;
}
mavlink_msg_position_target_local_ned_send(
chan,
AP_HAL::millis(), // time boot ms
MAV_FRAME_LOCAL_NED,
type_mask,
target_pos.x, // x in metres
target_pos.y, // y in metres
-target_pos.z, // z in metres NED frame
target_vel.x, // vx in m/s
target_vel.y, // vy in m/s
-target_vel.z, // vz in m/s NED frame
0.0f, // afx
0.0f, // afy
0.0f, // afz
0.0f, // yaw
0.0f); // yaw_rate
#endif
}
void GCS_MAVLINK_Copter::send_nav_controller_output() const
{
if (!copter.ap.initialised) {
return;
}
const Vector3f &targets = copter.attitude_control->get_att_target_euler_cd();
const Mode *flightmode = copter.flightmode;
mavlink_msg_nav_controller_output_send(
chan,
targets.x * 1.0e-2f,
targets.y * 1.0e-2f,
targets.z * 1.0e-2f,
flightmode->wp_bearing() * 1.0e-2f,
MIN(flightmode->wp_distance() * 1.0e-2f, UINT16_MAX),
copter.pos_control->get_alt_error() * 1.0e-2f,
0,
flightmode->crosstrack_error() * 1.0e-2f);
}
float GCS_MAVLINK_Copter::vfr_hud_airspeed() const
{
Vector3f airspeed_vec_bf;
if (AP::ahrs().airspeed_vector_true(airspeed_vec_bf)) {
// we are running the EKF3 wind estimation code which can give
// us an airspeed estimate
return airspeed_vec_bf.length();
}
return AP::gps().ground_speed();
}
int16_t GCS_MAVLINK_Copter::vfr_hud_throttle() const
{
if (copter.motors == nullptr) {
return 0;
}
return (int16_t)(copter.motors->get_throttle() * 100);
}
/*
send PID tuning message
*/
void GCS_MAVLINK_Copter::send_pid_tuning()
{
static const PID_TUNING_AXIS axes[] = {
PID_TUNING_ROLL,
PID_TUNING_PITCH,
PID_TUNING_YAW,
PID_TUNING_ACCZ
};
for (uint8_t i=0; i<ARRAY_SIZE(axes); i++) {
if (!(copter.g.gcs_pid_mask & (1<<(axes[i]-1)))) {
continue;
}
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
const AP_Logger::PID_Info *pid_info = nullptr;
switch (axes[i]) {
case PID_TUNING_ROLL:
pid_info = &copter.attitude_control->get_rate_roll_pid().get_pid_info();
break;
case PID_TUNING_PITCH:
pid_info = &copter.attitude_control->get_rate_pitch_pid().get_pid_info();
break;
case PID_TUNING_YAW:
pid_info = &copter.attitude_control->get_rate_yaw_pid().get_pid_info();
break;
case PID_TUNING_ACCZ:
pid_info = &copter.pos_control->get_accel_z_pid().get_pid_info();
break;
default:
continue;
}
if (pid_info != nullptr) {
mavlink_msg_pid_tuning_send(chan,
axes[i],
pid_info->target,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
}
}
}
// send winch status message
void GCS_MAVLINK_Copter::send_winch_status() const
{
#if WINCH_ENABLED == ENABLED
AP_Winch *winch = AP::winch();
if (winch == nullptr) {
return;
}
winch->send_status(*this);
#endif
}
uint8_t GCS_MAVLINK_Copter::sysid_my_gcs() const
{
return copter.g.sysid_my_gcs;
}
bool GCS_MAVLINK_Copter::sysid_enforce() const
{
return copter.g2.sysid_enforce;
}
uint32_t GCS_MAVLINK_Copter::telem_delay() const
{
return (uint32_t)(copter.g.telem_delay);
}
bool GCS_Copter::vehicle_initialised() const {
return copter.ap.initialised;
}
// try to send a message, return false if it wasn't sent
bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
{
switch(id) {
case MSG_TERRAIN:
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
copter.terrain.send_request(chan);
#endif
break;
case MSG_WIND:
CHECK_PAYLOAD_SIZE(WIND);
send_wind();
break;
case MSG_SERVO_OUT:
case MSG_AOA_SSA:
case MSG_LANDING:
// unused
break;
case MSG_ADSB_VEHICLE: {
#if HAL_ADSB_ENABLED
CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
copter.adsb.send_adsb_vehicle(chan);
#endif
#if AC_OAPATHPLANNER_ENABLED == ENABLED
AP_OADatabase *oadb = AP_OADatabase::get_singleton();
if (oadb != nullptr) {
CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
uint16_t interval_ms = 0;
if (get_ap_message_interval(id, interval_ms)) {
oadb->send_adsb_vehicle(chan, interval_ms);
}
}
#endif
break;
}
default:
return GCS_MAVLINK::try_send_message(id);
}
return true;
}
const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
// @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate
// @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[0], 0),
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
// @Description: Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[1], 0),
// @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station
// @Description: Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK_Parameters, streamRates[2], 0),
// @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station
// @Description: Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK_Parameters, streamRates[3], 0),
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
// @Description: Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[4], 0),
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
// @Description: Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK_Parameters, streamRates[5], 0),
// @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station
// @Description: Stream rate of VFR_HUD to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK_Parameters, streamRates[6], 0),
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
// @Description: Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK_Parameters, streamRates[7], 0),
// @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station
// @Description: Stream rate of PARAM_VALUE to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK_Parameters, streamRates[8], 0),
// @Param: ADSB
// @DisplayName: ADSB stream rate to ground station
// @Description: ADSB stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("ADSB", 9, GCS_MAVLINK_Parameters, streamRates[9], 0),
AP_GROUPEND
};
static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_RAW_IMU,
MSG_SCALED_IMU2,
MSG_SCALED_IMU3,
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_SYS_STATUS,
MSG_POWER_STATUS,
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
MSG_GPS_RAW,
MSG_GPS_RTK,
MSG_GPS2_RAW,
MSG_GPS2_RTK,
MSG_NAV_CONTROLLER_OUTPUT,
MSG_FENCE_STATUS,
MSG_POSITION_TARGET_GLOBAL_INT,
};
static const ap_message STREAM_POSITION_msgs[] = {
MSG_LOCATION,
MSG_LOCAL_POSITION
};
static const ap_message STREAM_RC_CHANNELS_msgs[] = {
MSG_SERVO_OUTPUT_RAW,
MSG_RC_CHANNELS,
MSG_RC_CHANNELS_RAW, // only sent on a mavlink1 connection
};
static const ap_message STREAM_EXTRA1_msgs[] = {
MSG_ATTITUDE,
MSG_SIMSTATE,
MSG_AHRS2,
MSG_PID_TUNING // Up to four PID_TUNING messages are sent, depending on GCS_PID_MASK parameter
};
static const ap_message STREAM_EXTRA2_msgs[] = {
MSG_VFR_HUD
};
static const ap_message STREAM_EXTRA3_msgs[] = {
MSG_AHRS,
MSG_HWSTATUS,
MSG_SYSTEM_TIME,
MSG_WIND,
MSG_RANGEFINDER,
MSG_DISTANCE_SENSOR,
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
MSG_TERRAIN,
#endif
MSG_BATTERY2,
MSG_BATTERY_STATUS,
MSG_MOUNT_STATUS,
MSG_OPTICAL_FLOW,
MSG_GIMBAL_REPORT,
MSG_MAG_CAL_REPORT,
MSG_MAG_CAL_PROGRESS,
MSG_EKF_STATUS_REPORT,
MSG_VIBRATION,
MSG_RPM,
MSG_ESC_TELEMETRY,
MSG_GENERATOR_STATUS,
MSG_WINCH_STATUS,
};
static const ap_message STREAM_PARAMS_msgs[] = {
MSG_NEXT_PARAM
};
static const ap_message STREAM_ADSB_msgs[] = {
MSG_ADSB_VEHICLE
};
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),
MAV_STREAM_ENTRY(STREAM_POSITION),
MAV_STREAM_ENTRY(STREAM_RC_CHANNELS),
MAV_STREAM_ENTRY(STREAM_EXTRA1),
MAV_STREAM_ENTRY(STREAM_EXTRA2),
MAV_STREAM_ENTRY(STREAM_EXTRA3),
MAV_STREAM_ENTRY(STREAM_ADSB),
MAV_STREAM_ENTRY(STREAM_PARAMS),
MAV_STREAM_TERMINATOR // must have this at end of stream_entries
};
bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
{
#if MODE_AUTO_ENABLED == ENABLED
return copter.mode_auto.do_guided(cmd);
#else
return false;
#endif
}
void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
{
// add home alt if needed
if (cmd.content.location.relative_alt) {
cmd.content.location.alt += copter.ahrs.get_home().alt;
}
// To-Do: update target altitude for loiter or waypoint controller depending upon nav mode
}
void GCS_MAVLINK_Copter::packetReceived(const mavlink_status_t &status,
const mavlink_message_t &msg)
{
#if HAL_ADSB_ENABLED
if (copter.g2.dev_options.get() & DevOptionADSBMAVLink) {
// optional handling of GLOBAL_POSITION_INT as a MAVLink based avoidance source
copter.avoidance_adsb.handle_msg(msg);
}
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
// pass message to follow library
copter.g2.follow.handle_msg(msg);
#endif
GCS_MAVLINK::packetReceived(status, msg);
}
bool GCS_MAVLINK_Copter::params_ready() const
{
if (AP_BoardConfig::in_config_error()) {
// we may never have parameters "initialised" in this case
return true;
}
// if we have not yet initialised (including allocating the motors
// object) we drop this request. That prevents the GCS from getting
// a confusing parameter count during bootup
return copter.ap.initialised_params;
}
void GCS_MAVLINK_Copter::send_banner()
{
GCS_MAVLINK::send_banner();
if (copter.motors == nullptr) {
send_text(MAV_SEVERITY_INFO, "motors not allocated");
return;
}
send_text(MAV_SEVERITY_INFO, "Frame: %s/%s", copter.motors->get_frame_string(),
copter.motors->get_type_string());
}
void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t &msg)
{
copter.command_ack_counter++;
GCS_MAVLINK::handle_command_ack(msg);
}
/*
handle a LANDING_TARGET command. The timestamp has been jitter corrected
*/
void GCS_MAVLINK_Copter::handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms)
{
#if PRECISION_LANDING == ENABLED
copter.precland.handle_msg(packet, timestamp_ms);
#endif
}
MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param6,1.0f)) {
// compassmot calibration
return copter.mavlink_compassmot(*this);
}
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_do_set_roi(const Location &roi_loc)
{
if (!roi_loc.check_latlng()) {
return MAV_RESULT_FAILED;
}
copter.flightmode->auto_yaw.set_roi(roi_loc);
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK_Copter::handle_preflight_reboot(const mavlink_command_long_t &packet)
{
// reject reboot if user has also specified they want the "Auto" ESC calibration on next reboot
if (copter.g.esc_calibrate == (uint8_t)Copter::ESCCalibrationModes::ESCCAL_AUTO) {
send_text(MAV_SEVERITY_CRITICAL, "Reboot rejected, ESC cal on reboot");
return MAV_RESULT_FAILED;
}
// call parent
return GCS_MAVLINK::handle_preflight_reboot(packet);
}
bool GCS_MAVLINK_Copter::set_home_to_current_location(bool _lock) {
return copter.set_home_to_current_location(_lock);
}
bool GCS_MAVLINK_Copter::set_home(const Location& loc, bool _lock) {
return copter.set_home(loc, _lock);
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
{
const bool change_modes = ((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) == MAV_DO_REPOSITION_FLAGS_CHANGE_MODE;
if (!copter.flightmode->in_guided_mode() && !change_modes) {
return MAV_RESULT_DENIED;
}
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
return MAV_RESULT_DENIED;
}
Location request_location {};
request_location.lat = packet.x;
request_location.lng = packet.y;
if (fabsf(packet.z) > LOCATION_ALT_MAX_M) {
return MAV_RESULT_DENIED;
}
Location::AltFrame frame;
if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)packet.frame, frame)) {
return MAV_RESULT_DENIED; // failed as the location is not valid
}
request_location.set_alt_cm((int32_t)(packet.z * 100.0f), frame);
if (request_location.sanitize(copter.current_loc)) {
// if the location wasn't already sane don't load it
return MAV_RESULT_DENIED; // failed as the location is not valid
}
// we need to do this first, as we don't want to change the flight mode unless we can also set the target
if (!copter.mode_guided.set_destination(request_location, false, 0, false, 0)) {
return MAV_RESULT_FAILED;
}
if (!copter.flightmode->in_guided_mode()) {
if (!copter.set_mode(Mode::Number::GUIDED, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
// the position won't have been loaded if we had to change the flight mode, so load it again
if (!copter.mode_guided.set_destination(request_location, false, 0, false, 0)) {
return MAV_RESULT_FAILED;
}
}
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet)
{
switch(packet.command) {
case MAV_CMD_DO_FOLLOW:
#if MODE_FOLLOW_ENABLED == ENABLED
// param1: sysid of target to follow
if ((packet.param1 > 0) && (packet.param1 <= 255)) {
copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
return MAV_RESULT_ACCEPTED;
}
#endif
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_DO_REPOSITION:
return handle_command_int_do_reposition(packet);
default:
return GCS_MAVLINK::handle_command_int_packet(packet);
}
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t &packet)
{
switch (packet.command) {
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
// if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) &&
!copter.camera_mount.has_pan_control()) {
copter.flightmode->auto_yaw.set_fixed_yaw(
(float)packet.param3 * 0.01f,
0.0f,
0,
false);
}
break;
#endif
default:
break;
}
return GCS_MAVLINK::handle_command_mount(packet);
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_long_t &packet)
{
switch(packet.command) {
case MAV_CMD_NAV_TAKEOFF: {
// param3 : horizontal navigation by pilot acceptable
// param4 : yaw angle (not supported)
// param5 : latitude (not supported)
// param6 : longitude (not supported)
// param7 : altitude [metres]
float takeoff_alt = packet.param7 * 100; // Convert m to cm
if (!copter.flightmode->do_user_takeoff(takeoff_alt, is_zero(packet.param3))) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
#if MODE_AUTO_ENABLED == ENABLED
case MAV_CMD_DO_LAND_START:
if (copter.mode_auto.mission.jump_to_landing_sequence() && copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_NAV_LOITER_UNLIM:
if (!copter.set_mode(Mode::Number::LOITER, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
if (!copter.set_mode(Mode::Number::RTL, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_LAND:
if (!copter.set_mode(Mode::Number::LAND, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
#if MODE_FOLLOW_ENABLED == ENABLED
case MAV_CMD_DO_FOLLOW:
// param1: sysid of target to follow
if ((packet.param1 > 0) && (packet.param1 <= 255)) {
copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_CONDITION_YAW:
// param1 : target angle [0-360]
// param2 : speed during change [deg per second]
// param3 : direction (-1:ccw, +1:cw)
// param4 : relative offset (1) or absolute angle (0)
if ((packet.param1 >= 0.0f) &&
(packet.param1 <= 360.0f) &&
(is_zero(packet.param4) || is_equal(packet.param4,1.0f))) {
copter.flightmode->auto_yaw.set_fixed_yaw(
packet.param1,
packet.param2,
(int8_t)packet.param3,
is_positive(packet.param4));
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_CHANGE_SPEED:
// param1 : Speed type (0 or 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)
// param2 : new speed in m/s
// param3 : unused
// param4 : unused
if (packet.param2 > 0.0f) {
if (packet.param1 > 2.9f) { // 3 = speed down
copter.wp_nav->set_speed_down(packet.param2 * 100.0f);
} else if (packet.param1 > 1.9f) { // 2 = speed up
copter.wp_nav->set_speed_up(packet.param2 * 100.0f);
} else {
copter.wp_nav->set_speed_xy(packet.param2 * 100.0f);
}
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#if MODE_AUTO_ENABLED == ENABLED
case MAV_CMD_MISSION_START:
if (copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
copter.set_auto_armed(true);
if (copter.mode_auto.mission.state() != AP_Mission::MISSION_RUNNING) {
copter.mode_auto.mission.start_or_resume();
}
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#endif
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// configure or release parachute
switch ((uint16_t)packet.param1) {
case PARACHUTE_DISABLE:
copter.parachute.enabled(false);
AP::logger().Write_Event(LogEvent::PARACHUTE_DISABLED);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_ENABLE:
copter.parachute.enabled(true);
AP::logger().Write_Event(LogEvent::PARACHUTE_ENABLED);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
copter.parachute_manual_release();
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#endif
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)
// param5 : num_motors (in sequence)
// param6 : motor test order
return copter.mavlink_motor_test_start(*this,
(uint8_t)packet.param1,
(uint8_t)packet.param2,
packet.param3,
packet.param4,
(uint8_t)packet.param5);
#if WINCH_ENABLED == ENABLED
case MAV_CMD_DO_WINCH:
// param1 : winch number (ignored)
// param2 : action (0=relax, 1=relative length control, 2=rate control). See WINCH_ACTIONS enum.
if (!copter.g2.winch.enabled()) {
return MAV_RESULT_FAILED;
}
switch ((uint8_t)packet.param2) {
case WINCH_RELAXED:
copter.g2.winch.relax();
return MAV_RESULT_ACCEPTED;
case WINCH_RELATIVE_LENGTH_CONTROL: {
copter.g2.winch.release_length(packet.param3);
return MAV_RESULT_ACCEPTED;
}
case WINCH_RATE_CONTROL:
copter.g2.winch.set_desired_rate(packet.param4);
return MAV_RESULT_ACCEPTED;
default:
break;
}
return MAV_RESULT_FAILED;
#endif
#if LANDING_GEAR_ENABLED == ENABLED
case MAV_CMD_AIRFRAME_CONFIGURATION: {
// Param 1: Select which gear, not used in ArduPilot
// Param 2: 0 = Deploy, 1 = Retract
// For safety, anything other than 1 will deploy
switch ((uint8_t)packet.param2) {
case 1:
copter.landinggear.set_position(AP_LandingGear::LandingGear_Retract);
return MAV_RESULT_ACCEPTED;
default:
copter.landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
#endif
/* Solo user presses Fly button */
case MAV_CMD_SOLO_BTN_FLY_CLICK: {
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
// set mode to Loiter or fall back to AltHold
if (!copter.set_mode(Mode::Number::LOITER, ModeReason::GCS_COMMAND)) {
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::GCS_COMMAND);
}
return MAV_RESULT_ACCEPTED;
}
/* Solo user holds down Fly button for a couple of seconds */
case MAV_CMD_SOLO_BTN_FLY_HOLD: {
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
if (!copter.motors->armed()) {
// if disarmed, arm motors
copter.arming.arm(AP_Arming::Method::MAVLINK);
} else if (copter.ap.land_complete) {
// if armed and landed, takeoff
if (copter.set_mode(Mode::Number::LOITER, ModeReason::GCS_COMMAND)) {
copter.flightmode->do_user_takeoff(packet.param1*100, true);
}
} else {
// if flying, land
copter.set_mode(Mode::Number::LAND, ModeReason::GCS_COMMAND);
}
return MAV_RESULT_ACCEPTED;
}
/* Solo user presses pause button */
case MAV_CMD_SOLO_BTN_PAUSE_CLICK: {
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
if (copter.motors->armed()) {
if (copter.ap.land_complete) {
// if landed, disarm motors
copter.arming.disarm(AP_Arming::Method::SOLOPAUSEWHENLANDED);
} else {
// assume that shots modes are all done in guided.
// NOTE: this may need to change if we add a non-guided shot mode
bool shot_mode = (!is_zero(packet.param1) && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS));
if (!shot_mode) {
#if MODE_BRAKE_ENABLED == ENABLED
if (copter.set_mode(Mode::Number::BRAKE, ModeReason::GCS_COMMAND)) {
copter.mode_brake.timeout_to_loiter_ms(2500);
} else {
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::GCS_COMMAND);
}
#else
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::GCS_COMMAND);
#endif
} else {
// SoloLink is expected to handle pause in shots
}
}
}
return MAV_RESULT_ACCEPTED;
}
default:
return GCS_MAVLINK::handle_command_long_packet(packet);
}
}
void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg)
{
switch (msg.msgid) {
#if HAL_MOUNT_ENABLED
case MAVLINK_MSG_ID_MOUNT_CONTROL:
// if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) &&
!copter.camera_mount.has_pan_control()) {
copter.flightmode->auto_yaw.set_fixed_yaw(
mavlink_msg_mount_control_get_input_c(&msg) * 0.01f,
0.0f,
0,
false);
break;
}
#endif
}
GCS_MAVLINK::handle_mount_message(msg);
}
void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
{
// for mavlink SET_POSITION_TARGET messages
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE =
POSITION_TARGET_TYPEMASK_X_IGNORE |
POSITION_TARGET_TYPEMASK_Y_IGNORE |
POSITION_TARGET_TYPEMASK_Z_IGNORE;
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE =
POSITION_TARGET_TYPEMASK_VX_IGNORE |
POSITION_TARGET_TYPEMASK_VY_IGNORE |
POSITION_TARGET_TYPEMASK_VZ_IGNORE;