diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 1330fecb997..c5a1a1f9bb4 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -111,6 +111,7 @@ using matrix::wrap_2pi; #include "streams/GPS_GLOBAL_ORIGIN.hpp" #include "streams/GPS_STATUS.hpp" #include "streams/HIGH_LATENCY2.hpp" +#include "streams/HIL_ACTUATOR_CONTROLS.hpp" #include "streams/HIL_STATE_QUATERNION.hpp" #include "streams/MANUAL_CONTROL.hpp" #include "streams/MOUNT_ORIENTATION.hpp" @@ -3172,162 +3173,6 @@ protected: } }; -class MavlinkStreamHILActuatorControls : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamHILActuatorControls::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "HIL_ACTUATOR_CONTROLS"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamHILActuatorControls(mavlink); - } - - unsigned get_size() override - { - return _act_sub.advertised() ? MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; - uORB::Subscription _act_sub{ORB_ID(actuator_outputs)}; - - /* do not allow top copying this class */ - MavlinkStreamHILActuatorControls(MavlinkStreamHILActuatorControls &) = delete; - MavlinkStreamHILActuatorControls &operator = (const MavlinkStreamHILActuatorControls &) = delete; - -protected: - explicit MavlinkStreamHILActuatorControls(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - actuator_outputs_s act; - - if (_act_sub.update(&act)) { - vehicle_status_s status{}; - _status_sub.copy(&status); - - if ((status.timestamp > 0) && (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED)) { - /* translate the current system state to mavlink state and mode */ - uint8_t mavlink_state; - uint8_t mavlink_base_mode; - uint32_t mavlink_custom_mode; - mavlink_hil_actuator_controls_t msg = {}; - - get_mavlink_mode_state(&status, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - - const float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2; - - unsigned system_type = _mavlink->get_system_type(); - - /* scale outputs depending on system type */ - if (system_type == MAV_TYPE_QUADROTOR || - system_type == MAV_TYPE_HEXAROTOR || - system_type == MAV_TYPE_OCTOROTOR || - system_type == MAV_TYPE_VTOL_DUOROTOR || - system_type == MAV_TYPE_VTOL_QUADROTOR || - system_type == MAV_TYPE_VTOL_RESERVED2) { - - /* multirotors: set number of rotor outputs depending on type */ - - unsigned n; - - switch (system_type) { - case MAV_TYPE_QUADROTOR: - n = 4; - break; - - case MAV_TYPE_HEXAROTOR: - n = 6; - break; - - case MAV_TYPE_VTOL_DUOROTOR: - n = 2; - break; - - case MAV_TYPE_VTOL_QUADROTOR: - n = 4; - break; - - case MAV_TYPE_VTOL_RESERVED2: - n = 8; - break; - - default: - n = 8; - break; - } - - for (unsigned i = 0; i < 16; i++) { - if (act.output[i] > PWM_DEFAULT_MIN / 2) { - if (i < n) { - /* scale PWM out 900..2100 us to 0..1 for rotors */ - msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN); - - } else { - /* scale PWM out 900..2100 us to -1..1 for other channels */ - msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2); - } - - } else { - /* send 0 when disarmed and for disabled channels */ - msg.controls[i] = 0.0f; - } - } - - } else { - /* fixed wing: scale throttle to 0..1 and other channels to -1..1 */ - - for (unsigned i = 0; i < 16; i++) { - if (act.output[i] > PWM_DEFAULT_MIN / 2) { - if (i != 3) { - /* scale PWM out 900..2100 us to -1..1 for normal channels */ - msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2); - - } else { - /* scale PWM out 900..2100 us to 0..1 for throttle */ - msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN); - } - - } else { - /* set 0 for disabled channels */ - msg.controls[i] = 0.0f; - } - } - } - - msg.time_usec = hrt_absolute_time(); - msg.mode = mavlink_base_mode; - msg.flags = 0; - - mavlink_msg_hil_actuator_controls_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - } - - return false; - } -}; - class MavlinkStreamCameraCapture : public MavlinkStream { public: @@ -3438,7 +3283,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item >(), create_stream_list_item >(), +#if defined(HIL_ACTUATOR_CONTROLS_HPP) create_stream_list_item(), +#endif // HIL_ACTUATOR_CONTROLS_HPP #if defined(POSITION_TARGET_GLOBAL_INT_HPP) create_stream_list_item(), #endif // POSITION_TARGET_GLOBAL_INT_HPP diff --git a/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp b/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp new file mode 100644 index 00000000000..6fff47ded6c --- /dev/null +++ b/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp @@ -0,0 +1,197 @@ +/**************************************************************************** + * + * Copyright (c) 2020 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. + * + ****************************************************************************/ + +#ifndef HIL_ACTUATOR_CONTROLS_HPP +#define HIL_ACTUATOR_CONTROLS_HPP + +#include +#include +#include + +class MavlinkStreamHILActuatorControls : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHILActuatorControls(mavlink); } + + static constexpr const char *get_name_static() { return "HIL_ACTUATOR_CONTROLS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _act_sub.advertised() ? MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamHILActuatorControls(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _act_sub{ORB_ID(actuator_outputs)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; + + bool send() override + { + actuator_outputs_s act; + + if (_act_sub.update(&act)) { + mavlink_hil_actuator_controls_t msg{}; + msg.time_usec = act.timestamp; + + static constexpr float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2; + + unsigned system_type = _mavlink->get_system_type(); + + /* scale outputs depending on system type */ + if (system_type == MAV_TYPE_QUADROTOR || + system_type == MAV_TYPE_HEXAROTOR || + system_type == MAV_TYPE_OCTOROTOR || + system_type == MAV_TYPE_VTOL_DUOROTOR || + system_type == MAV_TYPE_VTOL_QUADROTOR || + system_type == MAV_TYPE_VTOL_RESERVED2) { + + /* multirotors: set number of rotor outputs depending on type */ + + unsigned n; + + switch (system_type) { + case MAV_TYPE_QUADROTOR: + n = 4; + break; + + case MAV_TYPE_HEXAROTOR: + n = 6; + break; + + case MAV_TYPE_VTOL_DUOROTOR: + n = 2; + break; + + case MAV_TYPE_VTOL_QUADROTOR: + n = 4; + break; + + case MAV_TYPE_VTOL_RESERVED2: + n = 8; + break; + + default: + n = 8; + break; + } + + for (unsigned i = 0; i < 16; i++) { + if (act.output[i] > PWM_DEFAULT_MIN / 2) { + if (i < n) { + /* scale PWM out 900..2100 us to 0..1 for rotors */ + msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN); + + } else { + /* scale PWM out 900..2100 us to -1..1 for other channels */ + msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2); + } + + } else { + /* send 0 when disarmed and for disabled channels */ + msg.controls[i] = 0.0f; + } + } + + } else { + /* fixed wing: scale throttle to 0..1 and other channels to -1..1 */ + for (unsigned i = 0; i < 16; i++) { + if (act.output[i] > PWM_DEFAULT_MIN / 2) { + if (i != 3) { + /* scale PWM out 900..2100 us to -1..1 for normal channels */ + msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2); + + } else { + /* scale PWM out 900..2100 us to 0..1 for throttle */ + msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN); + } + + } else { + /* set 0 for disabled channels */ + msg.controls[i] = 0.0f; + } + } + } + + // mode (MAV_MODE_FLAG) + msg.mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; + + vehicle_control_mode_s control_mode; + + if (_vehicle_control_mode_sub.copy(&control_mode)) { + if (control_mode.flag_control_auto_enabled) { + msg.mode |= MAV_MODE_FLAG_AUTO_ENABLED; + } + + if (control_mode.flag_control_manual_enabled) { + msg.mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + } + + if (control_mode.flag_control_attitude_enabled) { + msg.mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; + } + } + + vehicle_status_s status; + + if (_vehicle_status_sub.copy(&status)) { + if (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + msg.mode |= MAV_MODE_FLAG_SAFETY_ARMED; + } + + if (status.hil_state == vehicle_status_s::HIL_STATE_ON) { + msg.mode |= MAV_MODE_FLAG_HIL_ENABLED; + } + + if (status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) { + msg.mode |= MAV_MODE_FLAG_GUIDED_ENABLED; + } + } + + msg.flags = 0; + + mavlink_msg_hil_actuator_controls_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // HIL_ACTUATOR_CONTROLS_HPP