mirror of
https://github.com/PX4/PX4-Autopilot.git
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Added onboard, receive-only MAVLink app for onboard UART networks
This commit is contained in:
Lorenz Meier
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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||||||
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# are met:
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||||||
|
#
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||||||
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# 1. Redistributions of source code must retain the above copyright
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||||||
|
# notice, this list of conditions and the following disclaimer.
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||||||
|
# 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.
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||||||
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# 3. Neither the name PX4 nor the names of its contributors may be
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||||||
|
# used to endorse or promote products derived from this software
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||||||
|
# without specific prior written permission.
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||||||
|
#
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||||||
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||||
|
# 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
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||||||
|
# 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
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||||||
|
# POSSIBILITY OF SUCH DAMAGE.
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||||||
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#
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############################################################################
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#
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# Mavlink Application
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#
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APPNAME = mavlink_onboard
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
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include $(APPDIR)/mk/app.mk
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,81 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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||||||
|
* 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
|
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|
* POSSIBILITY OF SUCH DAMAGE.
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||||||
|
*
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|
****************************************************************************/
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/**
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* @file mavlink_bridge_header
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* MAVLink bridge header for UART access.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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/* MAVLink adapter header */
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#ifndef MAVLINK_BRIDGE_HEADER_H
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#define MAVLINK_BRIDGE_HEADER_H
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#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
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/* use efficient approach, see mavlink_helpers.h */
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#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes
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#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
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#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
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#include "v1.0/mavlink_types.h"
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#include <unistd.h>
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/* Struct that stores the communication settings of this system.
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you can also define / alter these settings elsewhere, as long
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as they're included BEFORE mavlink.h.
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So you can set the
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mavlink_system.sysid = 100; // System ID, 1-255
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mavlink_system.compid = 50; // Component/Subsystem ID, 1-255
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Lines also in your main.c, e.g. by reading these parameter from EEPROM.
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*/
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extern mavlink_system_t mavlink_system;
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/**
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* @brief Send multiple chars (uint8_t) over a comm channel
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*
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* @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
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* @param ch Character to send
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*/
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extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
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mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
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mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
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#endif /* MAVLINK_BRIDGE_HEADER_H */
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@@ -0,0 +1,330 @@
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/****************************************************************************
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*
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||||||
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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||||||
|
* Author: Lorenz Meier <lm@inf.ethz.ch>
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|
*
|
||||||
|
* 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.
|
||||||
|
*
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|
****************************************************************************/
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/**
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* @file mavlink_receiver.c
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* MAVLink protocol message receive and dispatch
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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/* XXX trim includes */
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <pthread.h>
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#include <stdio.h>
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#include <math.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <mqueue.h>
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#include <string.h>
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#include "mavlink_bridge_header.h"
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#include <v1.0/common/mavlink.h>
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#include <drivers/drv_hrt.h>
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#include <time.h>
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#include <float.h>
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#include <unistd.h>
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#include <nuttx/sched.h>
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#include <sys/prctl.h>
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#include <termios.h>
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#include <errno.h>
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#include <stdlib.h>
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#include <poll.h>
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#include <systemlib/param/param.h>
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#include <systemlib/systemlib.h>
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#include "util.h"
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#include "orb_topics.h"
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/* XXX should be in a header somewhere */
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pthread_t receive_start(int uart);
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static void handle_message(mavlink_message_t *msg);
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static void *receive_thread(void *arg);
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static mavlink_status_t status;
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static struct vehicle_vicon_position_s vicon_position;
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static struct vehicle_command_s vcmd;
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static struct offboard_control_setpoint_s offboard_control_sp;
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struct vehicle_global_position_s hil_global_pos;
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struct vehicle_attitude_s hil_attitude;
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orb_advert_t pub_hil_global_pos = -1;
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orb_advert_t pub_hil_attitude = -1;
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static orb_advert_t cmd_pub = -1;
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static orb_advert_t flow_pub = -1;
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static orb_advert_t offboard_control_sp_pub = -1;
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static orb_advert_t vicon_position_pub = -1;
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extern bool gcs_link;
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static void
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handle_message(mavlink_message_t *msg)
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{
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if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
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mavlink_command_long_t cmd_mavlink;
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mavlink_msg_command_long_decode(msg, &cmd_mavlink);
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if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
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|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
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//check for MAVLINK terminate command
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if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
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/* This is the link shutdown command, terminate mavlink */
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printf("[mavlink] Terminating .. \n");
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fflush(stdout);
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usleep(50000);
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/* terminate other threads and this thread */
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thread_should_exit = true;
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} else {
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/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
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vcmd.param1 = cmd_mavlink.param1;
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vcmd.param2 = cmd_mavlink.param2;
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vcmd.param3 = cmd_mavlink.param3;
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vcmd.param4 = cmd_mavlink.param4;
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vcmd.param5 = cmd_mavlink.param5;
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vcmd.param6 = cmd_mavlink.param6;
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vcmd.param7 = cmd_mavlink.param7;
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vcmd.command = cmd_mavlink.command;
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vcmd.target_system = cmd_mavlink.target_system;
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vcmd.target_component = cmd_mavlink.target_component;
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vcmd.source_system = msg->sysid;
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vcmd.source_component = msg->compid;
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vcmd.confirmation = cmd_mavlink.confirmation;
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/* check if topic is advertised */
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if (cmd_pub <= 0) {
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cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
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}
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/* publish */
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orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
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}
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}
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}
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if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
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mavlink_optical_flow_t flow;
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mavlink_msg_optical_flow_decode(msg, &flow);
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struct optical_flow_s f;
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f.timestamp = flow.time_usec;
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f.flow_raw_x = flow.flow_x;
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f.flow_raw_y = flow.flow_y;
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f.flow_comp_x_m = flow.flow_comp_m_x;
|
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f.flow_comp_y_m = flow.flow_comp_m_y;
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f.ground_distance_m = flow.ground_distance;
|
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f.quality = flow.quality;
|
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f.sensor_id = flow.sensor_id;
|
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|
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/* check if topic is advertised */
|
||||||
|
if (flow_pub <= 0) {
|
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|
flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
|
||||||
|
} else {
|
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|
/* publish */
|
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|
orb_publish(ORB_ID(optical_flow), flow_pub, &f);
|
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|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
|
||||||
|
/* Set mode on request */
|
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|
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 ch;
|
||||||
|
|
||||||
|
mavlink_message_t msg;
|
||||||
|
|
||||||
|
prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
|
||||||
|
|
||||||
|
while (!thread_should_exit) {
|
||||||
|
|
||||||
|
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
|
||||||
|
|
||||||
|
if (poll(fds, 1, timeout) > 0) {
|
||||||
|
/* non-blocking read until buffer is empty */
|
||||||
|
int nread = 0;
|
||||||
|
|
||||||
|
do {
|
||||||
|
nread = read(uart_fd, &ch, 1);
|
||||||
|
|
||||||
|
if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
|
||||||
|
/* handle generic messages and commands */
|
||||||
|
handle_message(&msg);
|
||||||
|
}
|
||||||
|
} while (nread > 0);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
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, ¶m);
|
||||||
|
|
||||||
|
pthread_attr_setstacksize(&receiveloop_attr, 2048);
|
||||||
|
|
||||||
|
pthread_t thread;
|
||||||
|
pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
|
||||||
|
return thread;
|
||||||
|
}
|
||||||
@@ -0,0 +1,100 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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/vehicle_global_position_setpoint.h>
|
||||||
|
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||||
|
#include <uORB/topics/optical_flow.h>
|
||||||
|
#include <uORB/topics/actuator_outputs.h>
|
||||||
|
#include <uORB/topics/actuator_controls.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 armed_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);
|
||||||
@@ -0,0 +1,54 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 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 util.h
|
||||||
|
* Utility and helper functions and data.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "orb_topics.h"
|
||||||
|
|
||||||
|
/** MAVLink communications channel */
|
||||||
|
extern uint8_t chan;
|
||||||
|
|
||||||
|
/** Shutdown marker */
|
||||||
|
extern volatile bool thread_should_exit;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Translate the custom state into standard mavlink modes and state.
|
||||||
|
*/
|
||||||
|
extern void get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed,
|
||||||
|
uint8_t *mavlink_state, uint8_t *mavlink_mode);
|
||||||
@@ -69,6 +69,7 @@ CONFIGURED_APPS += systemcmds/preflight_check
|
|||||||
CONFIGURED_APPS += uORB
|
CONFIGURED_APPS += uORB
|
||||||
|
|
||||||
CONFIGURED_APPS += mavlink
|
CONFIGURED_APPS += mavlink
|
||||||
|
CONFIGURED_APPS += mavlink_onboard
|
||||||
CONFIGURED_APPS += gps
|
CONFIGURED_APPS += gps
|
||||||
CONFIGURED_APPS += commander
|
CONFIGURED_APPS += commander
|
||||||
CONFIGURED_APPS += sdlog
|
CONFIGURED_APPS += sdlog
|
||||||
|
|||||||
Reference in New Issue
Block a user