Merged mavlink_beta2

ROMFS/px4fmu_common/init.d/rc.usb

@@ -5,38 +5,7 @@
 
 echo "Starting MAVLink on this USB console"
 
-# Stop tone alarm
-tone_alarm stop
-
-#
-# Check for UORB
-#
-if uorb start
-then
-	echo "uORB started"
-fi
-
-# Tell MAVLink that this link is "fast"
-if mavlink stop
-then
-	echo "stopped other MAVLink instance"
-fi
-mavlink start -b 230400 -d /dev/ttyACM0
-
-# Stop commander
-if commander stop
-then
-	echo "Commander stopped"
-fi
-sleep 1
-
-# Start the commander
-if commander start
-then
-	echo "Commander started"
-fi
-
-echo "MAVLink started, exiting shell.."
+mavlink start -r 5000 -d /dev/ttyACM0
 
 # Exit shell to make it available to MAVLink
 exit 

ROMFS/px4fmu_common/init.d/rcS

@@ -117,6 +117,8 @@ then
 	set PWM_MAX none
 	set MKBLCTRL_MODE none
 	set FMU_MODE pwm
+	set MAVLINK_FLAGS default
+	set EXIT_ON_END no
 	set MAV_TYPE none
 	
 	#
@@ -384,30 +386,35 @@ then
 	#
 	# MAVLink
 	#
-	set EXIT_ON_END no
 	
-	if [ $HIL == yes ]
+	if [ $MAVLINK_FLAGS == default ]
 	then
-		sleep 1
-		mavlink start -b 230400 -d /dev/ttyACM0 
-		gps start
-		usleep 5000
-	else
-		if [ $TTYS1_BUSY == yes ]
+		if [ $HIL == yes ]
 		then
-			# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
-			mavlink start -d /dev/ttyS0
+			sleep 1
+			set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0 -m hil"
 			usleep 5000
-			
-			# Exit from nsh to free port for mavlink
-			set EXIT_ON_END yes
 		else
-			# Start MAVLink on default port: ttyS1
-			mavlink start
-			usleep 5000
+			# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
+			if [ $TTYS1_BUSY == yes ]
+			then
+				# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
+				set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
+				usleep 5000
+				
+				# Exit from nsh to free port for mavlink
+				set EXIT_ON_END yes
+			else
+				# Start MAVLink on default port: ttyS1
+				set MAVLINK_FLAGS "-r 1000"
+				usleep 5000
+			fi
 		fi
 	fi
 
+	mavlink start $MAVLINK_FLAGS
+	usleep 5000
+	
 	#
 	# Start the datamanager
 	#
@@ -545,6 +552,7 @@ then
 
 	if [ $EXIT_ON_END == yes ]
 	then
+		echo "[init] Exit from nsh"
 		exit
 	fi
 

makefiles/config_px4fmu-v2_default.mk

@@ -70,7 +70,6 @@ MODULES		+= systemcmds/hw_ver
 MODULES		+= modules/commander
 MODULES		+= modules/navigator
 MODULES		+= modules/mavlink
-MODULES		+= modules/mavlink_onboard
 
 #
 # Estimation modules (EKF/ SO3 / other filters)

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -405,7 +405,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=32
+CONFIG_NFILE_DESCRIPTORS=36
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -439,7 +439,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=32
+CONFIG_NFILE_DESCRIPTORS=36
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4
@@ -796,11 +796,11 @@ CONFIG_SCHED_WORKQUEUE=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_WORKPRIORITY=192
 CONFIG_SCHED_WORKPERIOD=5000
-CONFIG_SCHED_WORKSTACKSIZE=4000
+CONFIG_SCHED_WORKSTACKSIZE=2000
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKPERIOD=50000
-CONFIG_SCHED_LPWORKSTACKSIZE=4000
+CONFIG_SCHED_LPWORKSTACKSIZE=2000
 # CONFIG_LIB_KBDCODEC is not set
 # CONFIG_LIB_SLCDCODEC is not set
 

src/include/mavlink/mavlink_log.h

@@ -100,6 +100,7 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
  */
 #define mavlink_log_info(_fd, _text, ...)		mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__);
 
+
 struct mavlink_logmessage {
 	char text[MAVLINK_LOG_MAXLEN + 1];
 	unsigned char severity;
@@ -112,6 +113,7 @@ struct mavlink_logbuffer {
 	struct mavlink_logmessage *elems;
 };
 
+__BEGIN_DECLS
 void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size);
 
 void mavlink_logbuffer_destroy(struct mavlink_logbuffer *lb);
@@ -125,6 +127,7 @@ void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_
 int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem);
 
 void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...);
+__END_DECLS
 
 #endif
 

src/lib/geo/geo.c

@@ -440,14 +440,14 @@ __EXPORT float _wrap_pi(float bearing)
 	}
 
 	int c = 0;
-	while (bearing > M_PI_F) {
+	while (bearing >= M_PI_F) {
 		bearing -= M_TWOPI_F;
 		if (c++ > 3)
 			return NAN;
 	}
 
 	c = 0;
-	while (bearing <= -M_PI_F) {
+	while (bearing < -M_PI_F) {
 		bearing += M_TWOPI_F;
 		if (c++ > 3)
 			return NAN;
@@ -464,14 +464,14 @@ __EXPORT float _wrap_2pi(float bearing)
 	}
 
 	int c = 0;
-	while (bearing > M_TWOPI_F) {
+	while (bearing >= M_TWOPI_F) {
 		bearing -= M_TWOPI_F;
 		if (c++ > 3)
 			return NAN;
 	}
 
 	c = 0;
-	while (bearing <= 0.0f) {
+	while (bearing < 0.0f) {
 		bearing += M_TWOPI_F;
 		if (c++ > 3)
 			return NAN;
@@ -488,14 +488,14 @@ __EXPORT float _wrap_180(float bearing)
 	}
 
 	int c = 0;
-	while (bearing > 180.0f) {
+	while (bearing >= 180.0f) {
 		bearing -= 360.0f;
 		if (c++ > 3)
 			return NAN;
 	}
 
 	c = 0;
-	while (bearing <= -180.0f) {
+	while (bearing < -180.0f) {
 		bearing += 360.0f;
 		if (c++ > 3)
 			return NAN;
@@ -512,14 +512,14 @@ __EXPORT float _wrap_360(float bearing)
 	}
 
 	int c = 0;
-	while (bearing > 360.0f) {
+	while (bearing >= 360.0f) {
 		bearing -= 360.0f;
 		if (c++ > 3)
 			return NAN;
 	}
 
 	c = 0;
-	while (bearing <= 0.0f) {
+	while (bearing < 0.0f) {
 		bearing += 360.0f;
 		if (c++ > 3)
 			return NAN;

src/modules/commander/px4_custom_mode.h

@@ -8,6 +8,8 @@
 #ifndef PX4_CUSTOM_MODE_H_
 #define PX4_CUSTOM_MODE_H_
 
+#include <stdint.h>
+
 enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
 	PX4_CUSTOM_MAIN_MODE_SEATBELT,

src/modules/mavlink/mavlink_bridge_header.h

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012-2014 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
@@ -43,6 +42,8 @@
 #ifndef MAVLINK_BRIDGE_HEADER_H
 #define MAVLINK_BRIDGE_HEADER_H
 
+__BEGIN_DECLS
+
 #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
 /* use efficient approach, see mavlink_helpers.h */
@@ -73,11 +74,13 @@ extern mavlink_system_t mavlink_system;
  * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
  * @param ch Character to send
  */
-extern void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length);
+void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length);
 
 extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
 extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
 
 #include <v1.0/common/mavlink.h>
 
+__END_DECLS
+
 #endif /* MAVLINK_BRIDGE_HEADER_H */

src/modules/mavlink/mavlink_main.h

@@ -0,0 +1,314 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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_main.h
+ * MAVLink 1.0 protocol interface definition.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#pragma once
+
+#include <stdbool.h>
+#include <nuttx/fs/fs.h>
+#include <systemlib/param/param.h>
+#include <systemlib/perf_counter.h>
+#include <pthread.h>
+#include <mavlink/mavlink_log.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/mission.h>
+
+#include "mavlink_bridge_header.h"
+#include "mavlink_orb_subscription.h"
+#include "mavlink_stream.h"
+#include "mavlink_messages.h"
+
+// FIXME XXX - TO BE MOVED TO XML
+enum MAVLINK_WPM_STATES {
+	MAVLINK_WPM_STATE_IDLE = 0,
+	MAVLINK_WPM_STATE_SENDLIST,
+	MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
+	MAVLINK_WPM_STATE_GETLIST,
+	MAVLINK_WPM_STATE_GETLIST_GETWPS,
+	MAVLINK_WPM_STATE_GETLIST_GOTALL,
+	MAVLINK_WPM_STATE_ENUM_END
+};
+
+enum MAVLINK_WPM_CODES {
+	MAVLINK_WPM_CODE_OK = 0,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
+	MAVLINK_WPM_CODE_ENUM_END
+};
+
+
+#define MAVLINK_WPM_MAX_WP_COUNT 255
+#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
+#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
+#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
+
+
+struct mavlink_wpm_storage {
+	uint16_t size;
+	uint16_t max_size;
+	enum MAVLINK_WPM_STATES current_state;
+	int16_t current_wp_id;	///< Waypoint in current transmission
+	uint16_t current_count;
+	uint8_t current_partner_sysid;
+	uint8_t current_partner_compid;
+	uint64_t timestamp_lastaction;
+	uint64_t timestamp_last_send_setpoint;
+	uint32_t timeout;
+	int current_dataman_id;
+};
+
+
+class Mavlink
+{
+
+public:
+	/**
+	 * Constructor
+	 */
+	Mavlink();
+
+	/**
+	 * Destructor, also kills the mavlinks task.
+	 */
+	~Mavlink();
+
+	/**
+	* Start the mavlink task.
+	 *
+	 * @return		OK on success.
+	 */
+	static int		start(int argc, char *argv[]);
+
+	/**
+	 * Display the mavlink status.
+	 */
+	void		status();
+
+	static int stream(int argc, char *argv[]);
+
+	static int	instance_count();
+
+	static Mavlink *new_instance();
+
+	static Mavlink *get_instance(unsigned instance);
+
+	static Mavlink *get_instance_for_device(const char *device_name);
+
+	static int	destroy_all_instances();
+
+	static bool	instance_exists(const char *device_name, Mavlink *self);
+
+	static int get_uart_fd(unsigned index);
+
+	int get_uart_fd();
+
+	const char *_device_name;
+
+	enum MAVLINK_MODE {
+		MODE_CUSTOM = 0,
+		MODE_OFFBOARD,
+		MODE_ONBOARD,
+		MODE_HIL
+	};
+
+	void		set_mode(enum MAVLINK_MODE);
+	enum MAVLINK_MODE		get_mode() { return _mode; }
+
+	bool		get_hil_enabled() { return _mavlink_hil_enabled; };
+
+	/**
+	 * Handle waypoint related messages.
+	 */
+	void mavlink_wpm_message_handler(const mavlink_message_t *msg);
+
+	static int start_helper(int argc, char *argv[]);
+
+	/**
+	 * Handle parameter related messages.
+	 */
+	void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
+
+	void get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
+
+	/**
+	 * Enable / disable Hardware in the Loop simulation mode.
+	 *
+	 * @param hil_enabled	The new HIL enable/disable state.
+	 * @return		OK if the HIL state changed, ERROR if the
+	 *			requested change could not be made or was
+	 *			redundant.
+	 */
+	int		set_hil_enabled(bool hil_enabled);
+
+	MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
+
+	int get_instance_id();
+
+	mavlink_channel_t get_channel();
+
+	bool		_task_should_exit;		/**< if true, mavlink task should exit */
+
+protected:
+	Mavlink	*next;
+
+private:
+	int _instance_id;
+
+	int		_mavlink_fd;
+	bool		_task_running;
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	/* states */
+	bool		_mavlink_hil_enabled;		/**< Hardware In the Loop mode */
+
+	unsigned	_main_loop_delay;		/**< mainloop delay, depends on data rate */
+
+	MavlinkOrbSubscription *_subscriptions;
+	MavlinkStream *_streams;
+
+	orb_advert_t	_mission_pub;
+	struct mission_s mission;
+	uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
+	MAVLINK_MODE _mode;
+
+	uint8_t _mavlink_wpm_comp_id;
+	mavlink_channel_t _channel;
+
+	struct mavlink_logbuffer _logbuffer;
+	unsigned int _total_counter;
+
+	pthread_t _receive_thread;
+
+	/* Allocate storage space for waypoints */
+	mavlink_wpm_storage _wpm_s;
+	mavlink_wpm_storage *_wpm;
+
+	bool _verbose;
+	int _uart_fd;
+	int _baudrate;
+	int _datarate;
+
+	/**
+	 * If the queue index is not at 0, the queue sending
+	 * logic will send parameters from the current index
+	 * to len - 1, the end of the param list.
+	 */
+	unsigned int _mavlink_param_queue_index;
+
+	bool mavlink_link_termination_allowed;
+
+	char 	*_subscribe_to_stream;
+	float	_subscribe_to_stream_rate;
+
+	/**
+	 * Send one parameter.
+	 *
+	 * @param param		The parameter id to send.
+	 * @return		zero on success, nonzero on failure.
+	 */
+	int mavlink_pm_send_param(param_t param);
+
+	/**
+	 * Send one parameter identified by index.
+	 *
+	 * @param index		The index of the parameter to send.
+	 * @return		zero on success, nonzero else.
+	 */
+	int mavlink_pm_send_param_for_index(uint16_t index);
+
+	/**
+	 * Send one parameter identified by name.
+	 *
+	 * @param name		The index of the parameter to send.
+	 * @return		zero on success, nonzero else.
+	 */
+	int mavlink_pm_send_param_for_name(const char *name);
+
+	/**
+	 * Send a queue of parameters, one parameter per function call.
+	 *
+	 * @return		zero on success, nonzero on failure
+	 */
+	int mavlink_pm_queued_send(void);
+
+	/**
+	 * Start sending the parameter queue.
+	 *
+	 * This function will not directly send parameters, but instead
+	 * activate the sending of one parameter on each call of
+	 * mavlink_pm_queued_send().
+	 * @see 		mavlink_pm_queued_send()
+	 */
+	void mavlink_pm_start_queued_send();
+
+	void mavlink_update_system();
+
+	void mavlink_waypoint_eventloop(uint64_t now);
+	void mavlink_wpm_send_waypoint_reached(uint16_t seq);
+	void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq);
+	void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq);
+	void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count);
+	void mavlink_wpm_send_waypoint_current(uint16_t seq);
+	void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type);
+	void mavlink_wpm_init(mavlink_wpm_storage *state);
+	int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
+	int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
+	void publish_mission();
+
+	void mavlink_missionlib_send_message(mavlink_message_t *msg);
+	int mavlink_missionlib_send_gcs_string(const char *string);
+
+	int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
+
+	int configure_stream(const char *stream_name, const float rate);
+	void configure_stream_threadsafe(const char *stream_name, const float rate);
+
+	static int	mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
+
+	/**
+	 * Main mavlink task.
+	 */
+	int		task_main(int argc, char *argv[]);
+
+};

src/modules/mavlink/mavlink_messages.h

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012-2014 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
@@ -33,20 +32,17 @@
  ****************************************************************************/
 
 /**
- * @file mavlink_hil.h
- * Hardware-in-the-loop simulation support.
- */
-
-#pragma once
-
-extern bool mavlink_hil_enabled;
-
-/**
- * Enable / disable Hardware in the Loop simulation mode.
+ * @file mavlink_messages.h
+ * MAVLink 1.0 message formatters definition.
  *
- * @param hil_enabled	The new HIL enable/disable state.
- * @return		OK if the HIL state changed, ERROR if the
- *			requested change could not be made or was
- *			redundant.
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
-extern int set_hil_on_off(bool hil_enabled);
+
+#ifndef MAVLINK_MESSAGES_H_
+#define MAVLINK_MESSAGES_H_
+
+#include "mavlink_stream.h"
+
+extern MavlinkStream *streams_list[];
+
+#endif /* MAVLINK_MESSAGES_H_ */

src/modules/mavlink/mavlink_orb_subscription.cpp

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2014 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
@@ -33,51 +32,58 @@
  ****************************************************************************/
 
 /**
- * @file mavlink_bridge_header
- * MAVLink bridge header for UART access.
+ * @file mavlink_orb_subscription.cpp
+ * uORB subscription implementation.
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-/* MAVLink adapter header */
-#ifndef MAVLINK_BRIDGE_HEADER_H
-#define MAVLINK_BRIDGE_HEADER_H
-
-#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-/* use efficient approach, see mavlink_helpers.h */
-#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes
-
-#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
-#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
-
-#include <v1.0/mavlink_types.h>
 #include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <uORB/uORB.h>
+#include <stdio.h>
 
+#include "mavlink_orb_subscription.h"
 
-/* Struct that stores the communication settings of this system.
-   you can also define / alter these settings elsewhere, as long
-   as they're included BEFORE mavlink.h.
-   So you can set the
+MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) : _topic(topic), _last_check(0), next(nullptr)
+{
+	_data = malloc(topic->o_size);
+	memset(_data, 0, topic->o_size);
+	_fd = orb_subscribe(_topic);
+}
 
-   mavlink_system.sysid = 100; // System ID, 1-255
-   mavlink_system.compid = 50; // Component/Subsystem ID, 1-255
+MavlinkOrbSubscription::~MavlinkOrbSubscription()
+{
+	close(_fd);
+	free(_data);
+}
 
-   Lines also in your main.c, e.g. by reading these parameter from EEPROM.
- */
-extern mavlink_system_t mavlink_system;
+const orb_id_t
+MavlinkOrbSubscription::get_topic()
+{
+	return _topic;
+}
 
-/**
- * @brief Send multiple chars (uint8_t) over a comm channel
- *
- * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
- * @param ch Character to send
- */
-extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
+void *
+MavlinkOrbSubscription::get_data()
+{
+	return _data;
+}
 
-mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
-mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
+bool
+MavlinkOrbSubscription::update(const hrt_abstime t)
+{
+	if (_last_check != t) {
+		_last_check = t;
+		bool updated;
+		orb_check(_fd, &updated);
 
-#include <v1.0/common/mavlink.h>
+		if (updated) {
+			orb_copy(_topic, _fd, _data);
+			return true;
+		}
+	}
 
-#endif /* MAVLINK_BRIDGE_HEADER_H */
+	return false;
+}

src/modules/mavlink/mavlink_orb_subscription.h

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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_orb_subscription.h
+ * uORB subscription definition.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef MAVLINK_ORB_SUBSCRIPTION_H_
+#define MAVLINK_ORB_SUBSCRIPTION_H_
+
+#include <systemlib/uthash/utlist.h>
+#include <drivers/drv_hrt.h>
+
+
+class MavlinkOrbSubscription
+{
+public:
+	MavlinkOrbSubscription *next;
+
+	MavlinkOrbSubscription(const orb_id_t topic);
+	~MavlinkOrbSubscription();
+
+	bool update(const hrt_abstime t);
+	void *get_data();
+	const orb_id_t get_topic();
+
+private:
+	const orb_id_t _topic;
+	int _fd;
+	void *_data;
+	hrt_abstime _last_check;
+};
+
+
+#endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */

src/modules/mavlink/mavlink_parameters.c

@@ -1,230 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * 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_parameters.c
- * MAVLink parameter protocol implementation (BSD-relicensed).
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#include "mavlink_bridge_header.h"
-#include "mavlink_parameters.h"
-#include <uORB/uORB.h>
-#include "math.h" /* isinf / isnan checks */
-#include <assert.h>
-#include <stdio.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <stdbool.h>
-#include <string.h>
-#include <errno.h>
-#include <systemlib/param/param.h>
-#include <systemlib/err.h>
-#include <sys/stat.h>
-
-extern mavlink_system_t mavlink_system;
-
-extern int mavlink_missionlib_send_message(mavlink_message_t *msg);
-extern int mavlink_missionlib_send_gcs_string(const char *string);
-
-/**
- * If the queue index is not at 0, the queue sending
- * logic will send parameters from the current index
- * to len - 1, the end of the param list.
- */
-static unsigned int mavlink_param_queue_index = 0;
-
-/**
- * Callback for param interface.
- */
-void mavlink_pm_callback(void *arg, param_t param);
-
-void mavlink_pm_callback(void *arg, param_t param)
-{
-	mavlink_pm_send_param(param);
-	usleep(*(unsigned int *)arg);
-}
-
-void mavlink_pm_send_all_params(unsigned int delay)
-{
-	unsigned int dbuf = delay;
-	param_foreach(&mavlink_pm_callback, &dbuf, false);
-}
-
-int mavlink_pm_queued_send()
-{
-	if (mavlink_param_queue_index < param_count()) {
-		mavlink_pm_send_param(param_for_index(mavlink_param_queue_index));
-		mavlink_param_queue_index++;
-		return 0;
-
-	} else {
-		return 1;
-	}
-}
-
-void mavlink_pm_start_queued_send()
-{
-	mavlink_param_queue_index = 0;
-}
-
-int mavlink_pm_send_param_for_index(uint16_t index)
-{
-	return mavlink_pm_send_param(param_for_index(index));
-}
-
-int mavlink_pm_send_param_for_name(const char *name)
-{
-	return mavlink_pm_send_param(param_find(name));
-}
-
-int mavlink_pm_send_param(param_t param)
-{
-	if (param == PARAM_INVALID) return 1;
-
-	/* buffers for param transmission */
-	static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
-	float val_buf;
-	static mavlink_message_t tx_msg;
-
-	/* query parameter type */
-	param_type_t type = param_type(param);
-	/* copy parameter name */
-	strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
-
-	/*
-	 * Map onboard parameter type to MAVLink type,
-	 * endianess matches (both little endian)
-	 */
-	uint8_t mavlink_type;
-
-	if (type == PARAM_TYPE_INT32) {
-		mavlink_type = MAVLINK_TYPE_INT32_T;
-
-	} else if (type == PARAM_TYPE_FLOAT) {
-		mavlink_type = MAVLINK_TYPE_FLOAT;
-
-	} else {
-		mavlink_type = MAVLINK_TYPE_FLOAT;
-	}
-
-	/*
-	 * get param value, since MAVLink encodes float and int params in the same
-	 * space during transmission, copy param onto float val_buf
-	 */
-
-	int ret;
-
-	if ((ret = param_get(param, &val_buf)) != OK) {
-		return ret;
-	}
-
-	mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
-					  mavlink_system.compid,
-					  MAVLINK_COMM_0,
-					  &tx_msg,
-					  name_buf,
-					  val_buf,
-					  mavlink_type,
-					  param_count(),
-					  param_get_index(param));
-	ret = mavlink_missionlib_send_message(&tx_msg);
-	return ret;
-}
-
-void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg)
-{
-	switch (msg->msgid) {
-	case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
-			/* Start sending parameters */
-			mavlink_pm_start_queued_send();
-			mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
-		} break;
-
-	case MAVLINK_MSG_ID_PARAM_SET: {
-
-			/* Handle parameter setting */
-
-			if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
-				mavlink_param_set_t mavlink_param_set;
-				mavlink_msg_param_set_decode(msg, &mavlink_param_set);
-
-				if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
-					/* local name buffer to enforce null-terminated string */
-					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
-					strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
-					/* enforce null termination */
-					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
-					/* attempt to find parameter, set and send it */
-					param_t param = param_find(name);
-
-					if (param == PARAM_INVALID) {
-						char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
-						sprintf(buf, "[mavlink pm] unknown: %s", name);
-						mavlink_missionlib_send_gcs_string(buf);
-
-					} else {
-						/* set and send parameter */
-						param_set(param, &(mavlink_param_set.param_value));
-						mavlink_pm_send_param(param);
-					}
-				}
-			}
-		} break;
-
-	case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
-			mavlink_param_request_read_t mavlink_param_request_read;
-			mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read);
-
-			if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
-				/* when no index is given, loop through string ids and compare them */
-				if (mavlink_param_request_read.param_index == -1) {
-					/* local name buffer to enforce null-terminated string */
-					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
-					strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
-					/* enforce null termination */
-					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
-					/* attempt to find parameter and send it */
-					mavlink_pm_send_param_for_name(name);
-
-				} else {
-					/* when index is >= 0, send this parameter again */
-					mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index);
-				}
-			}
-
-		} break;
-	}
-}

src/modules/mavlink/mavlink_parameters.h

@@ -1,104 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * 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_parameters.h
- * MAVLink parameter protocol definitions (BSD-relicensed).
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-/* This assumes you have the mavlink headers on your include path
- or in the same folder as this source file */
-
-
-#include <v1.0/mavlink_types.h>
-#include <stdbool.h>
-#include <systemlib/param/param.h>
-
-/**
- * Handle parameter related messages.
- */
-void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
-
-/**
- * Send all parameters at once.
- *
- * This function blocks until all parameters have been sent.
- * it delays each parameter by the passed amount of microseconds.
- *
- * @param delay		The delay in us between sending all parameters.
- */
-void mavlink_pm_send_all_params(unsigned int delay);
-
-/**
- * Send one parameter.
- *
- * @param param		The parameter id to send.
- * @return		zero on success, nonzero on failure.
- */
-int mavlink_pm_send_param(param_t param);
-
-/**
- * Send one parameter identified by index.
- *
- * @param index		The index of the parameter to send.
- * @return		zero on success, nonzero else.
- */
-int mavlink_pm_send_param_for_index(uint16_t index);
-
-/**
- * Send one parameter identified by name.
- *
- * @param name		The index of the parameter to send.
- * @return		zero on success, nonzero else.
- */
-int mavlink_pm_send_param_for_name(const char *name);
-
-/**
- * Send a queue of parameters, one parameter per function call.
- *
- * @return		zero on success, nonzero on failure
- */
-int mavlink_pm_queued_send(void);
-
-/**
- * Start sending the parameter queue.
- *
- * This function will not directly send parameters, but instead
- * activate the sending of one parameter on each call of
- * mavlink_pm_queued_send().
- * @see 		mavlink_pm_queued_send()
- */
-void mavlink_pm_start_queued_send(void);

src/modules/mavlink/mavlink_rate_limiter.cpp

@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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_rate_limiter.cpp
+ * Message rate limiter implementation.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include "mavlink_rate_limiter.h"
+
+MavlinkRateLimiter::MavlinkRateLimiter() : _last_sent(0), _interval(1000000)
+{
+}
+
+MavlinkRateLimiter::MavlinkRateLimiter(unsigned int interval) : _last_sent(0), _interval(interval)
+{
+}
+
+MavlinkRateLimiter::~MavlinkRateLimiter()
+{
+}
+
+void
+MavlinkRateLimiter::set_interval(unsigned int interval)
+{
+	_interval = interval;
+}
+
+bool
+MavlinkRateLimiter::check(hrt_abstime t)
+{
+	uint64_t dt = t - _last_sent;
+
+	if (dt > 0 && dt >= _interval) {
+		_last_sent = (t / _interval) * _interval;
+		return true;
+	}
+
+	return false;
+}

src/modules/mavlink/mavlink_rate_limiter.h

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2014 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
@@ -33,23 +32,31 @@
  ****************************************************************************/
 
 /**
- * @file util.h
- * Utility and helper functions and data.
+ * @file mavlink_rate_limiter.h
+ * Message rate limiter definition.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#pragma once
+#ifndef MAVLINK_RATE_LIMITER_H_
+#define MAVLINK_RATE_LIMITER_H_
 
-#include "orb_topics.h"
+#include <drivers/drv_hrt.h>
 
-/** MAVLink communications channel */
-extern uint8_t chan;
 
-/** Shutdown marker */
-extern volatile bool thread_should_exit;
+class MavlinkRateLimiter
+{
+private:
+	hrt_abstime _last_sent;
+	hrt_abstime _interval;
 
-/**
- * Translate the custom state into standard mavlink modes and state.
- */
-extern void
-get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed,
-	uint8_t *mavlink_state, uint8_t *mavlink_mode);
+public:
+	MavlinkRateLimiter();
+	MavlinkRateLimiter(unsigned int interval);
+	~MavlinkRateLimiter();
+	void set_interval(unsigned int interval);
+	bool check(hrt_abstime t);
+};
+
+
+#endif /* MAVLINK_RATE_LIMITER_H_ */

src/modules/mavlink/mavlink_receiver.h

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012-2014 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
@@ -33,12 +32,15 @@
  ****************************************************************************/
 
 /**
- * @file orb_topics.h
- * Common sets of topics subscribed to or published by the MAVLink driver,
- * and structures maintained by those subscriptions.
+ * @file mavlink_orb_listener.h
+ * MAVLink 1.0 uORB listener definition
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
+
 #pragma once
 
+#include <systemlib/perf_counter.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/rc_channels.h>
@@ -55,7 +57,6 @@
 #include <uORB/topics/vehicle_vicon_position.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls_effective.h>
@@ -66,59 +67,81 @@
 #include <uORB/topics/debug_key_value.h>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/battery_status.h>
-#include <drivers/drv_rc_input.h>
-#include <uORB/topics/navigation_capabilities.h>
 
-struct mavlink_subscriptions {
-	int sensor_sub;
-	int att_sub;
-	int global_pos_sub;
-	int act_0_sub;
-	int act_1_sub;
-	int act_2_sub;
-	int act_3_sub;
-	int gps_sub;
-	int man_control_sp_sub;
-	int safety_sub;
-	int actuators_sub;
-	int armed_sub;
-	int actuators_effective_sub;
-	int local_pos_sub;
-	int spa_sub;
-	int spl_sub;
-	int triplet_sub;
-	int debug_key_value;
-	int input_rc_sub;
-	int optical_flow;
-	int rates_setpoint_sub;
-	int home_sub;
-	int airspeed_sub;
-	int navigation_capabilities_sub;
-	int position_setpoint_triplet_sub;
+class Mavlink;
+
+class MavlinkReceiver
+{
+public:
+	/**
+	 * Constructor
+	 */
+	MavlinkReceiver(Mavlink *parent);
+
+	/**
+	 * Destructor, also kills the mavlinks task.
+	 */
+	~MavlinkReceiver();
+
+	/**
+	* Start the mavlink task.
+	 *
+	 * @return		OK on success.
+	 */
+	int		start();
+
+	/**
+	 * Display the mavlink status.
+	 */
+	void		print_status();
+
+	static pthread_t receive_start(Mavlink *parent);
+
+	static void *start_helper(void *context);
+
+private:
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	Mavlink	*_mavlink;
+
+	void handle_message(mavlink_message_t *msg);
+	void handle_message_command_long(mavlink_message_t *msg);
+	void handle_message_optical_flow(mavlink_message_t *msg);
+	void handle_message_set_mode(mavlink_message_t *msg);
+	void handle_message_vicon_position_estimate(mavlink_message_t *msg);
+	void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
+	void handle_message_radio_status(mavlink_message_t *msg);
+	void handle_message_manual_control(mavlink_message_t *msg);
+	void handle_message_hil_sensor(mavlink_message_t *msg);
+	void handle_message_hil_gps(mavlink_message_t *msg);
+	void handle_message_hil_state_quaternion(mavlink_message_t *msg);
+
+	void *receive_thread(void *arg);
+
+	mavlink_status_t status;
+	struct vehicle_local_position_s hil_local_pos;
+	int _manual_sub;
+	orb_advert_t _global_pos_pub;
+	orb_advert_t _local_pos_pub;
+	orb_advert_t _attitude_pub;
+	orb_advert_t _gps_pub;
+	orb_advert_t _sensors_pub;
+	orb_advert_t _gyro_pub;
+	orb_advert_t _accel_pub;
+	orb_advert_t _mag_pub;
+	orb_advert_t _baro_pub;
+	orb_advert_t _airspeed_pub;
+	orb_advert_t _battery_pub;
+	orb_advert_t _cmd_pub;
+	orb_advert_t _flow_pub;
+	orb_advert_t _offboard_control_sp_pub;
+	orb_advert_t _vicon_position_pub;
+	orb_advert_t _telemetry_status_pub;
+	orb_advert_t _rc_pub;
+	orb_advert_t _manual_pub;
+	int _hil_counter;
+	int _hil_frames;
+	uint64_t _old_timestamp;
+	bool _hil_local_proj_inited;
+	float _hil_local_alt0;
 };
-
-extern struct mavlink_subscriptions mavlink_subs;
-
-/** Global position */
-extern struct vehicle_global_position_s global_pos;
-
-/** Local position */
-extern struct vehicle_local_position_s local_pos;
-
-/** navigation capabilities */
-extern struct navigation_capabilities_s nav_cap;
-
-/** Vehicle status */
-extern struct vehicle_status_s v_status;
-
-/** Position setpoint triplet */
-extern struct position_setpoint_triplet_s pos_sp_triplet;
-
-/** RC channels */
-extern struct rc_channels_s rc;
-
-/** Actuator armed state */
-extern struct actuator_armed_s armed;
-
-/** Worker thread starter */
-extern pthread_t uorb_receive_start(void);

src/modules/mavlink/mavlink_stream.cpp

@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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_stream.cpp
+ * Mavlink messages stream implementation.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <stdlib.h>
+
+#include "mavlink_stream.h"
+#include "mavlink_main.h"
+
+MavlinkStream::MavlinkStream() : _interval(1000000), _last_sent(0), _channel(MAVLINK_COMM_0), next(nullptr)
+{
+}
+
+MavlinkStream::~MavlinkStream()
+{
+}
+
+/**
+ * Set messages interval in ms
+ */
+void
+MavlinkStream::set_interval(const unsigned int interval)
+{
+	_interval = interval;
+}
+
+/**
+ * Set mavlink channel
+ */
+void
+MavlinkStream::set_channel(mavlink_channel_t channel)
+{
+	_channel = channel;
+}
+
+/**
+ * Update subscriptions and send message if necessary
+ */
+int
+MavlinkStream::update(const hrt_abstime t)
+{
+	uint64_t dt = t - _last_sent;
+
+	if (dt > 0 && dt >= _interval) {
+		/* interval expired, send message */
+		send(t);
+		_last_sent = (t / _interval) * _interval;
+	}
+}

src/modules/mavlink/mavlink_stream.h

@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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_stream.cpp
+ * Mavlink messages stream definition.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef MAVLINK_STREAM_H_
+#define MAVLINK_STREAM_H_
+
+#include <drivers/drv_hrt.h>
+
+class Mavlink;
+class MavlinkStream;
+
+#include "mavlink_main.h"
+
+class MavlinkStream
+{
+private:
+	hrt_abstime _last_sent;
+
+protected:
+	mavlink_channel_t _channel;
+	unsigned int _interval;
+
+	virtual void send(const hrt_abstime t) = 0;
+
+public:
+	MavlinkStream *next;
+
+	MavlinkStream();
+	~MavlinkStream();
+	void set_interval(const unsigned int interval);
+	void set_channel(mavlink_channel_t channel);
+	int update(const hrt_abstime t);
+	virtual MavlinkStream *new_instance() = 0;
+	virtual void subscribe(Mavlink *mavlink) = 0;
+	virtual const char *get_name() = 0;
+};
+
+
+#endif /* MAVLINK_STREAM_H_ */

src/modules/mavlink/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2014 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
@@ -36,10 +36,12 @@
 #
 
 MODULE_COMMAND	 = mavlink
-SRCS		 += mavlink.c \
-			   mavlink_parameters.c \
-			   mavlink_receiver.cpp \
-			   orb_listener.c \
-			   waypoints.c
+SRCS		 += mavlink_main.cpp \
+			mavlink.c \
+			mavlink_receiver.cpp \
+			mavlink_orb_subscription.cpp \
+			mavlink_messages.cpp \
+			mavlink_stream.cpp \
+			mavlink_rate_limiter.cpp
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink

src/modules/mavlink/util.h

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012-2014 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

src/modules/mavlink/waypoints.h

@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2009-2014 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
@@ -37,6 +34,11 @@
 /**
  * @file waypoints.h
  * MAVLink waypoint protocol definition (BSD-relicensed).
+ *
+ * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
  */
 
 #ifndef WAYPOINTS_H_
@@ -106,7 +108,4 @@ extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float pa
 
 static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
 
-void mavlink_missionlib_send_message(mavlink_message_t *msg);
-int mavlink_missionlib_send_gcs_string(const char *string);
-
 #endif /* WAYPOINTS_H_ */

src/modules/mavlink_onboard/mavlink_receiver.c

@@ -1,344 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * 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.c
- * MAVLink protocol message receive and dispatch
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-/* XXX trim includes */
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <pthread.h>
-#include <stdio.h>
-#include <math.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <mqueue.h>
-#include <string.h>
-#include "mavlink_bridge_header.h"
-#include <drivers/drv_hrt.h>
-#include <time.h>
-#include <float.h>
-#include <unistd.h>
-#include <nuttx/sched.h>
-#include <sys/prctl.h>
-#include <termios.h>
-#include <errno.h>
-#include <stdlib.h>
-#include <poll.h>
-
-#include <systemlib/param/param.h>
-#include <systemlib/systemlib.h>
-
-#include "util.h"
-#include "orb_topics.h"
-
-/* XXX should be in a header somewhere */
-pthread_t receive_start(int uart);
-
-static void handle_message(mavlink_message_t *msg);
-static void *receive_thread(void *arg);
-
-static mavlink_status_t status;
-static struct vehicle_vicon_position_s vicon_position;
-static struct vehicle_command_s vcmd;
-static struct offboard_control_setpoint_s offboard_control_sp;
-
-struct vehicle_global_position_s hil_global_pos;
-struct vehicle_attitude_s hil_attitude;
-orb_advert_t pub_hil_global_pos = -1;
-orb_advert_t pub_hil_attitude = -1;
-
-static orb_advert_t cmd_pub = -1;
-static orb_advert_t flow_pub = -1;
-
-static orb_advert_t offboard_control_sp_pub = -1;
-static orb_advert_t vicon_position_pub = -1;
-
-extern bool gcs_link;
-
-static void
-handle_message(mavlink_message_t *msg)
-{
-	if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
-
-		mavlink_command_long_t cmd_mavlink;
-		mavlink_msg_command_long_decode(msg, &cmd_mavlink);
-
-		if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
-				|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
-			//check for MAVLINK terminate command
-			if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
-				/* This is the link shutdown command, terminate mavlink */
-				warnx("terminating...");
-				fflush(stdout);
-				usleep(50000);
-
-				/* terminate other threads and this thread */
-				thread_should_exit = true;
-
-			} else {
-
-				/* 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 = cmd_mavlink.param5;
-				vcmd.param6 = 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;
-
-				/* check if topic is advertised */
-				if (cmd_pub <= 0) {
-					cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
-				}
-
-				/* publish */
-				orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
-			}
-		}
-	}
-
-	if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
-		mavlink_optical_flow_t flow;
-		mavlink_msg_optical_flow_decode(msg, &flow);
-
-		struct optical_flow_s f;
-
-		f.timestamp = hrt_absolute_time();
-		f.flow_raw_x = flow.flow_x;
-		f.flow_raw_y = flow.flow_y;
-		f.flow_comp_x_m = flow.flow_comp_m_x;
-		f.flow_comp_y_m = flow.flow_comp_m_y;
-		f.ground_distance_m = flow.ground_distance;
-		f.quality = flow.quality;
-		f.sensor_id = flow.sensor_id;
-
-		/* check if topic is advertised */
-		if (flow_pub <= 0) {
-			flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
-
-		} else {
-			/* publish */
-			orb_publish(ORB_ID(optical_flow), flow_pub, &f);
-		}
-
-	}
-
-	if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
-		/* Set mode on request */
-		mavlink_set_mode_t new_mode;
-		mavlink_msg_set_mode_decode(msg, &new_mode);
-
-		/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
-		vcmd.param1 = new_mode.base_mode;
-		vcmd.param2 = new_mode.custom_mode;
-		vcmd.param3 = 0;
-		vcmd.param4 = 0;
-		vcmd.param5 = 0;
-		vcmd.param6 = 0;
-		vcmd.param7 = 0;
-		vcmd.command = MAV_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 = 1;
-
-		/* check if topic is advertised */
-		if (cmd_pub <= 0) {
-			cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
-
-		} else {
-			/* create command */
-			orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
-		}
-	}
-
-	/* Handle Vicon position estimates */
-	if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
-		mavlink_vicon_position_estimate_t pos;
-		mavlink_msg_vicon_position_estimate_decode(msg, &pos);
-
-		vicon_position.x = pos.x;
-		vicon_position.y = pos.y;
-		vicon_position.z = pos.z;
-
-		if (vicon_position_pub <= 0) {
-			vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
-
-		} else {
-			orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
-		}
-	}
-
-	/* Handle quadrotor motor setpoints */
-
-	if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
-		mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
-		mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
-
-		if (mavlink_system.sysid < 4) {
-
-			/* switch to a receiving link mode */
-			gcs_link = false;
-
-			/*
-			 * rate control mode - defined by MAVLink
-			 */
-
-			uint8_t ml_mode = 0;
-			bool ml_armed = false;
-
-			switch (quad_motors_setpoint.mode) {
-			case 0:
-				ml_armed = false;
-				break;
-
-			case 1:
-				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
-				ml_armed = true;
-
-				break;
-
-			case 2:
-				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
-				ml_armed = true;
-
-				break;
-
-			case 3:
-				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
-				break;
-
-			case 4:
-				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
-				break;
-			}
-
-			offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1]   / (float)INT16_MAX;
-			offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1]  / (float)INT16_MAX;
-			offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1]    / (float)INT16_MAX;
-			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
-
-			if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
-				ml_armed = false;
-			}
-
-			offboard_control_sp.armed = ml_armed;
-			offboard_control_sp.mode = ml_mode;
-
-			offboard_control_sp.timestamp = hrt_absolute_time();
-
-			/* check if topic has to be advertised */
-			if (offboard_control_sp_pub <= 0) {
-				offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
-
-			} else {
-				/* Publish */
-				orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
-			}
-		}
-	}
-
-}
-
-
-/**
- * Receive data from UART.
- */
-static void *
-receive_thread(void *arg)
-{
-	int uart_fd = *((int *)arg);
-
-	const int timeout = 1000;
-	uint8_t buf[32];
-
-	mavlink_message_t msg;
-
-	prctl(PR_SET_NAME, "mavlink_onboard_rcv", getpid());
-
-	struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
-
-	ssize_t nread = 0;
-
-	while (!thread_should_exit) {
-		if (poll(fds, 1, timeout) > 0) {
-			if (nread < sizeof(buf)) {
-				/* to avoid reading very small chunks wait for data before reading */
-				usleep(1000);
-			}
-
-			/* non-blocking read. read may return negative values */
-			nread = read(uart_fd, buf, sizeof(buf));
-
-			/* if read failed, this loop won't execute */
-			for (ssize_t i = 0; i < nread; i++) {
-				if (mavlink_parse_char(chan, buf[i], &msg, &status)) {
-					/* handle generic messages and commands */
-					handle_message(&msg);
-				}
-			}
-		}
-	}
-
-	return NULL;
-}
-
-pthread_t
-receive_start(int uart)
-{
-	pthread_attr_t receiveloop_attr;
-	pthread_attr_init(&receiveloop_attr);
-
-	struct sched_param param;
-	param.sched_priority = SCHED_PRIORITY_MAX - 40;
-	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
-
-	pthread_attr_setstacksize(&receiveloop_attr, 2048);
-
-	pthread_t thread;
-	pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
-	return thread;
-}

src/modules/mavlink_onboard/module.mk

@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012-2013 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.
-#
-############################################################################
-
-#
-# MAVLink protocol to uORB interface process (XXX hack for onboard use)
-#
-
-MODULE_COMMAND	 = mavlink_onboard
-SRCS		 = mavlink.c \
-		   mavlink_receiver.c
-
-INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink

src/modules/mavlink_onboard/orb_topics.h

@@ -1,102 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * 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 orb_topics.h
- * Common sets of topics subscribed to or published by the MAVLink driver,
- * and structures maintained by those subscriptions.
- */
-#pragma once
-
-#include <uORB/uORB.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/rc_channels.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/offboard_control_setpoint.h>
-#include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/vehicle_local_position_setpoint.h>
-#include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/position_setpoint_triplet.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/optical_flow.h>
-#include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_armed.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/debug_key_value.h>
-#include <drivers/drv_rc_input.h>
-
-struct mavlink_subscriptions {
-	int sensor_sub;
-	int att_sub;
-	int global_pos_sub;
-	int act_0_sub;
-	int act_1_sub;
-	int act_2_sub;
-	int act_3_sub;
-	int gps_sub;
-	int man_control_sp_sub;
-	int safety_sub;
-	int actuators_sub;
-	int local_pos_sub;
-	int spa_sub;
-	int spl_sub;
-	int spg_sub;
-	int debug_key_value;
-	int input_rc_sub;
-};
-
-extern struct mavlink_subscriptions mavlink_subs;
-
-/** Global position */
-extern struct vehicle_global_position_s global_pos;
-
-/** Local position */
-extern struct vehicle_local_position_s local_pos;
-
-/** Vehicle status */
-// extern struct vehicle_status_s v_status;
-
-/** RC channels */
-extern struct rc_channels_s rc;
-
-/** Actuator armed state */
-// extern struct actuator_armed_s armed;
-
-/** Worker thread starter */
-extern pthread_t uorb_receive_start(void);

src/modules/navigator/navigator_main.cpp

@@ -65,7 +65,6 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/position_setpoint_triplet.h>
-#include <uORB/topics/mission_result.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/parameter_update.h>
@@ -288,9 +287,9 @@ private:
 	static void	task_main_trampoline(int argc, char *argv[]);
 
 	/**
-	 * Main sensor collection task.
+	 * Main task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 
 	void		publish_safepoints(unsigned points);
 
@@ -395,7 +394,6 @@ Navigator::Navigator() :
 
 /* publications */
 	_pos_sp_triplet_pub(-1),
-	_mission_result_pub(-1),
 
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
@@ -427,7 +425,6 @@ Navigator::Navigator() :
 	_parameter_handles.rtl_land_delay = param_find("NAV_RTL_LAND_T");
 
 	memset(&_pos_sp_triplet, 0, sizeof(struct position_setpoint_triplet_s));
-	memset(&_mission_result, 0, sizeof(struct mission_result_s));
 	memset(&_mission_item, 0, sizeof(struct mission_item_s));
 
 	memset(&nav_states_str, 0, sizeof(nav_states_str));
@@ -529,13 +526,16 @@ Navigator::offboard_mission_update(bool isrotaryWing)
 		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence);
 
 		_mission.set_offboard_dataman_id(offboard_mission.dataman_id);
-		_mission.set_current_offboard_mission_index(offboard_mission.current_index);
+
 		_mission.set_offboard_mission_count(offboard_mission.count);
+		_mission.set_current_offboard_mission_index(offboard_mission.current_index);
 
 	} else {
-		_mission.set_current_offboard_mission_index(0);
 		_mission.set_offboard_mission_count(0);
+		_mission.set_current_offboard_mission_index(0);
 	}
+
+	_mission.publish_mission_result();
 }
 
 void
@@ -545,12 +545,12 @@ Navigator::onboard_mission_update()
 
 	if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) {
 
-		_mission.set_current_onboard_mission_index(onboard_mission.current_index);
 		_mission.set_onboard_mission_count(onboard_mission.count);
+		_mission.set_current_onboard_mission_index(onboard_mission.current_index);
 
 	} else {
-		_mission.set_current_onboard_mission_index(0);
 		_mission.set_onboard_mission_count(0);
+		_mission.set_current_onboard_mission_index(0);
 	}
 }
 
@@ -1112,6 +1112,8 @@ Navigator::set_mission_item()
 	ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index);
 
 	if (ret == OK) {
+		_mission.report_current_offboard_mission_item();
+
 		_mission_item_valid = true;
 		position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
 
@@ -1581,6 +1583,9 @@ void
 Navigator::on_mission_item_reached()
 {
 	if (myState == NAV_STATE_MISSION) {
+
+		_mission.report_mission_item_reached();
+
 		if (_do_takeoff) {
 			/* takeoff completed */
 			_do_takeoff = false;
@@ -1627,6 +1632,7 @@ Navigator::on_mission_item_reached()
 		mavlink_log_info(_mavlink_fd, "[navigator] landing completed");
 		dispatch(EVENT_READY_REQUESTED);
 	}
+	_mission.publish_mission_result();
 }
 
 void

src/modules/navigator/navigator_mission.cpp

@@ -36,13 +36,12 @@
  * Helper class to access missions
  */
 
-// #include <stdio.h>
-// #include <stdlib.h>
-// #include <string.h>
-// #include <unistd.h>
-
+#include <string.h>
 #include <stdlib.h>
 #include <dataman/dataman.h>
+#include <systemlib/err.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/mission_result.h>
 #include "navigator_mission.h"
 
 /* oddly, ERROR is not defined for c++ */
@@ -60,8 +59,11 @@ Mission::Mission() :
 	_offboard_mission_item_count(0),
 	_onboard_mission_item_count(0),
 	_onboard_mission_allowed(false),
-	_current_mission_type(MISSION_TYPE_NONE)
-{}
+	_current_mission_type(MISSION_TYPE_NONE),
+	_mission_result_pub(-1)
+{
+	memset(&_mission_result, 0, sizeof(struct mission_result_s));
+}
 
 Mission::~Mission()
 {
@@ -78,8 +80,16 @@ void
 Mission::set_current_offboard_mission_index(int new_index)
 {
 	if (new_index != -1) {
+		warnx("specifically set to %d", new_index);
 		_current_offboard_mission_index = (unsigned)new_index;
+	} else {
+
+		/* if less WPs available, reset to first WP */
+		if (_current_offboard_mission_index >= _offboard_mission_item_count) {
+			_current_offboard_mission_index = 0;
+		}
 	}
+	report_current_offboard_mission_item();
 }
 
 void
@@ -87,7 +97,15 @@ Mission::set_current_onboard_mission_index(int new_index)
 {
 	if (new_index != -1) {
 		_current_onboard_mission_index = (unsigned)new_index;
+	} else {
+
+		/* if less WPs available, reset to first WP */
+		if (_current_onboard_mission_index >= _onboard_mission_item_count) {
+			_current_onboard_mission_index = 0;
+		}
 	}
+	// TODO: implement this for onboard missions as well
+	// report_current_mission_item();
 }
 
 void
@@ -267,3 +285,34 @@ Mission::move_to_next()
 		break;
 	}
 }
+
+void
+Mission::report_mission_item_reached()
+{
+	if (_current_mission_type == MISSION_TYPE_OFFBOARD) {
+		_mission_result.mission_reached = true;
+		_mission_result.mission_index_reached = _current_offboard_mission_index;
+	}
+}
+
+void
+Mission::report_current_offboard_mission_item()
+{
+	_mission_result.index_current_mission = _current_offboard_mission_index;
+}
+
+void
+Mission::publish_mission_result()
+{
+	/* lazily publish the mission result only once available */
+	if (_mission_result_pub > 0) {
+		/* publish mission result */
+		orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
+
+	} else {
+		/* advertise and publish */
+		_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
+	}
+	/* reset reached bool */
+	_mission_result.mission_reached = false;
+}

src/modules/navigator/navigator_mission.h

@@ -40,6 +40,7 @@
 #define NAVIGATOR_MISSION_H
 
 #include <uORB/topics/mission.h>
+#include <uORB/topics/mission_result.h>
 
 
 class __EXPORT Mission
@@ -71,7 +72,9 @@ public:
 
 	void		move_to_next();
 
-	void		add_home_pos(struct mission_item_s *new_mission_item);
+	void		report_mission_item_reached();
+	void		report_current_offboard_mission_item();
+	void		publish_mission_result();
 
 private:
 	bool		current_onboard_mission_available();
@@ -92,6 +95,10 @@ private:
 		MISSION_TYPE_ONBOARD,
 		MISSION_TYPE_OFFBOARD,
 	} 		_current_mission_type;
+
+	int		_mission_result_pub;
+
+	struct mission_result_s _mission_result;
 };
 
 #endif

src/modules/uORB/topics/mission_result.h

@@ -54,7 +54,8 @@
 struct mission_result_s
 {
 	bool mission_reached;		/**< true if mission has been reached			*/
-	unsigned mission_index;		/**< index of the mission which has been reached	*/
+	unsigned mission_index_reached;	/**< index of the mission which has been reached	*/
+	unsigned index_current_mission; /**< index of the current mission			*/
 };
 
 /**

src/modules/uORB/topics/vehicle_attitude.h

@@ -76,7 +76,7 @@ struct vehicle_attitude_s {
 	float rate_offsets[3];	/**< Offsets of the body angular rates from zero		*/
 	float R[3][3];		/**< Rotation matrix body to world, (Tait-Bryan, NED)		*/
 	float q[4];		/**< Quaternion (NED)						*/
-	float g_comp[3];	/**< Compensated gravity vector				*/
+	float g_comp[3];	/**< Compensated gravity vector					*/
 	bool R_valid;		/**< Rotation matrix valid					*/
 	bool q_valid;		/**< Quaternion valid						*/