mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Peter BarkerandClaude Sonnet 4.6
47de61e6f3
Location.alt is in centimetres but the GLOBAL_POSITION_INT alt field requires millimetres. The stationary-tracker path was missing the * 10 conversion that the base class GCS_MAVLINK::send_global_position_int() applies correctly. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
608 lines
19 KiB
C++
608 lines
19 KiB
C++
#include "GCS_MAVLink_Tracker.h"
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#include "Tracker.h"
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MAV_TYPE GCS_Tracker::frame_type() const
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{
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return MAV_TYPE_ANTENNA_TRACKER;
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}
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uint8_t GCS_MAVLINK_Tracker::base_mode() const
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{
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uint8_t _base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
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// work out the base_mode. This value is not very useful
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// for APM, but we calculate it as best we can so a generic
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// MAVLink enabled ground station can work out something about
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// what the MAV is up to. The actual bit values are highly
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// ambiguous for most of the APM flight modes. In practice, you
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// only get useful information from the custom_mode, which maps to
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// the APM flight mode and has a well defined meaning in the
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// ArduPlane documentation
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switch (tracker.mode->number()) {
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case Mode::Number::MANUAL:
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_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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break;
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case Mode::Number::STOP:
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break;
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case Mode::Number::SCAN:
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case Mode::Number::SERVOTEST:
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case Mode::Number::AUTO:
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case Mode::Number::GUIDED:
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_base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED |
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MAV_MODE_FLAG_STABILIZE_ENABLED;
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// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
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// APM does in any mode, as that is defined as "system finds its own goal
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// positions", which APM does not currently do
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break;
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case Mode::Number::INITIALISING:
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break;
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}
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// we are armed if safety switch is not disarmed
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED &&
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tracker.mode != &tracker.mode_initialising &&
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hal.util->get_soft_armed()) {
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_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
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}
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return _base_mode;
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}
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uint32_t GCS_Tracker::custom_mode() const
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{
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return (uint32_t)tracker.mode->number();
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}
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MAV_STATE GCS_MAVLINK_Tracker::vehicle_system_status() const
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{
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if (tracker.mode == &tracker.mode_initialising) {
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return MAV_STATE_CALIBRATING;
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}
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return MAV_STATE_ACTIVE;
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}
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void GCS_MAVLINK_Tracker::send_attitude_target()
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{
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Quaternion quat;
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bool use_yaw_rate = false;
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float yaw_rate_rads = 0.0;
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bool use_pitch_rate = false;
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float pitch_rate_rads = 0.0;
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float quat_out[4] {0.0, 0.0, 0.0, 0.0};
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uint16_t typemask = ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE |
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ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE;
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if (tracker.mode->number() == Mode::Number::GUIDED) {
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quat = tracker.mode_guided.get_attitude_target_quat();
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use_yaw_rate = tracker.mode_guided.get_attitude_target_use_yaw_rate();
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use_pitch_rate = tracker.mode_guided.get_attitude_target_use_pitch_rate();
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quat_out[0] = quat.q1;
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quat_out[1] = quat.q2;
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quat_out[2] = quat.q3;
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quat_out[3] = quat.q4;
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if (!use_yaw_rate) {
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typemask |= ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE;
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} else {
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yaw_rate_rads = tracker.mode_guided.get_attitude_target_yaw_rate_rads();
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}
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if (!use_pitch_rate) {
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typemask |= ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE;
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} else {
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pitch_rate_rads = tracker.mode_guided.get_attitude_target_pitch_rate_rads();
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}
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} else if (tracker.mode->number() == Mode::Number::AUTO) {
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float yaw = tracker.mode_auto.get_auto_target_yaw_deg();
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float pitch = tracker.mode_auto.get_auto_target_pitch_deg();
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quat.from_euler(0, radians(pitch), radians(yaw));
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quat_out[0] = quat.q1;
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quat_out[1] = quat.q2;
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quat_out[2] = quat.q3;
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quat_out[3] = quat.q4;
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typemask |=
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ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE |
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ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE |
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ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE |
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ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE;
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} else if (tracker.mode->number() == Mode::Number::SCAN) {
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struct Tracker::NavStatus &nav_status = tracker.nav_status;
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Parameters &g = tracker.g;
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if (!nav_status.manual_control_yaw) {
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yaw_rate_rads = radians(g.scan_speed_yaw);
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} else {
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typemask |= ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE;
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}
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if (!nav_status.manual_control_pitch) {
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pitch_rate_rads = radians(g.scan_speed_pitch);
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} else {
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typemask |= ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE;
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}
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typemask |= ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE;
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} else if (tracker.mode->number() == Mode::Number::STOP) {
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typemask |= ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE;
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} else {
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return;
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}
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mavlink_msg_attitude_target_send(
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chan,
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AP_HAL::millis(), // time since boot (ms)
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typemask, // Bitmask that tells the system what control dimensions should be ignored by the vehicle
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quat_out, // Attitude quaternion [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], unit-length
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0, // roll rate (rad/s)
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pitch_rate_rads, // pitch rate (rad/s)
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yaw_rate_rads, // yaw rate (rad/s)
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0); // Collective thrust
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}
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void GCS_MAVLINK_Tracker::send_nav_controller_output() const
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{
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float alt_diff = (tracker.g.alt_source == ALT_SOURCE_BARO) ? tracker.nav_status.alt_difference_baro : tracker.nav_status.alt_difference_gps;
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mavlink_msg_nav_controller_output_send(
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chan,
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0,
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tracker.nav_status.pitch,
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tracker.nav_status.bearing,
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tracker.nav_status.bearing,
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MIN(tracker.nav_status.distance, UINT16_MAX),
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alt_diff,
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0,
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0);
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}
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void GCS_MAVLINK_Tracker::handle_set_attitude_target(const mavlink_message_t &msg)
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{
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// decode packet
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mavlink_set_attitude_target_t packet;
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mavlink_msg_set_attitude_target_decode(&msg, &packet);
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// exit if vehicle is not in Guided mode
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if (tracker.mode != &tracker.mode_guided) {
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return;
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}
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// sanity checks:
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if (!is_zero(packet.body_roll_rate)) {
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return;
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}
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if (!(packet.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE)) {
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// not told to ignore body roll rate
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return;
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}
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if (!(packet.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) {
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// not told to ignore throttle
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return;
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}
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if (packet.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE) {
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// told to ignore attitude (we don't allow continuous motion yet)
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return;
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}
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if ((packet.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE) &&
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(packet.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE)) {
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// told to ignore both pitch and yaw rates - nothing to do?!
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return;
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}
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const bool use_yaw_rate = !(packet.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE);
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const bool use_pitch_rate = !(packet.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE);
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tracker.mode_guided.set_angle(
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Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]),
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use_yaw_rate,
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packet.body_yaw_rate,
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use_pitch_rate,
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packet.body_pitch_rate);
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}
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/*
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send PID tuning message
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*/
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void GCS_MAVLINK_Tracker::send_pid_tuning()
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{
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const Parameters &g = tracker.g;
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// Pitch PID
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if (g.gcs_pid_mask & 1) {
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const AP_PIDInfo *pid_info = &g.pidPitch2Srv.get_pid_info();
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mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
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pid_info->target,
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pid_info->actual,
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pid_info->FF,
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pid_info->P,
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pid_info->I,
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pid_info->D,
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pid_info->slew_rate,
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pid_info->Dmod);
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if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
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return;
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}
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}
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// Yaw PID
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if (g.gcs_pid_mask & 2) {
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const AP_PIDInfo *pid_info = &g.pidYaw2Srv.get_pid_info();
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mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
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pid_info->target,
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pid_info->actual,
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pid_info->FF,
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pid_info->P,
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pid_info->I,
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pid_info->D,
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pid_info->slew_rate,
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pid_info->Dmod);
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if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
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return;
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}
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}
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}
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/*
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We eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and
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MAVLINK_MSG_ID_SCALED_PRESSUREs
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*/
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void GCS_MAVLINK_Tracker::packetReceived(const mavlink_status_t &status,
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const mavlink_message_t &msg)
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{
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// return immediately if sysid doesn't match our target sysid
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if ((tracker.g.sysid_target != 0) && (tracker.g.sysid_target != msg.sysid)) {
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GCS_MAVLINK::packetReceived(status, msg);
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return;
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}
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switch (msg.msgid) {
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case MAVLINK_MSG_ID_HEARTBEAT:
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{
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mavlink_check_target(msg);
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break;
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}
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case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
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{
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// decode
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mavlink_global_position_int_t packet;
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mavlink_msg_global_position_int_decode(&msg, &packet);
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tracker.tracking_update_position(packet);
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break;
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}
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case MAVLINK_MSG_ID_SCALED_PRESSURE:
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{
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// decode
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mavlink_scaled_pressure_t packet;
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mavlink_msg_scaled_pressure_decode(&msg, &packet);
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tracker.tracking_update_pressure(packet);
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break;
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}
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}
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GCS_MAVLINK::packetReceived(status, msg);
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}
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bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id)
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{
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switch(id) {
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case MSG_WIND: // other vehicles do something custom with wind:
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return true;
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default:
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return GCS_MAVLINK::try_send_message(id);
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}
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return true;
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}
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// locks onto a particular target sysid and sets it's position data stream to at least 1hz
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void GCS_MAVLINK_Tracker::mavlink_check_target(const mavlink_message_t &msg)
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{
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// exit immediately if the target has already been set
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if (tracker.target_set) {
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return;
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}
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// decode
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mavlink_heartbeat_t packet;
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mavlink_msg_heartbeat_decode(&msg, &packet);
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// exit immediately if this is not a vehicle we would track
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if ((packet.type == MAV_TYPE_ANTENNA_TRACKER) ||
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(packet.type == MAV_TYPE_GCS) ||
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(packet.type == MAV_TYPE_ONBOARD_CONTROLLER) ||
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(packet.type == MAV_TYPE_GIMBAL)) {
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return;
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}
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// set our sysid to the target, this ensures we lock onto a single vehicle
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if (tracker.g.sysid_target == 0) {
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tracker.g.sysid_target.set(msg.sysid);
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}
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// send data stream request to target on all channels
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// Note: this doesn't check success for all sends meaning it's not guaranteed the vehicle's positions will be sent at 1hz
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tracker.gcs().request_datastream_position(msg.sysid, msg.compid);
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tracker.gcs().request_datastream_airpressure(msg.sysid, msg.compid);
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// flag target has been set
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tracker.target_set = true;
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}
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MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration_baro(const mavlink_message_t &msg)
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{
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MAV_RESULT ret = GCS_MAVLINK::_handle_command_preflight_calibration_baro(msg);
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if (ret == MAV_RESULT_ACCEPTED) {
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// zero the altitude difference on next baro update
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tracker.nav_status.need_altitude_calibration = true;
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}
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return ret;
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}
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MAV_RESULT GCS_MAVLINK_Tracker::handle_command_component_arm_disarm(const mavlink_command_int_t &packet)
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{
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if (is_equal(packet.param1,1.0f)) {
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tracker.arm_servos();
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return MAV_RESULT_ACCEPTED;
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}
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if (is_zero(packet.param1)) {
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tracker.disarm_servos();
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return MAV_RESULT_ACCEPTED;
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}
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return MAV_RESULT_UNSUPPORTED;
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}
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MAV_RESULT GCS_MAVLINK_Tracker::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
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{
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switch(packet.command) {
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case MAV_CMD_DO_SET_SERVO:
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// ensure we are in servo test mode
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tracker.set_mode(tracker.mode_servotest, ModeReason::SERVOTEST);
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if (!tracker.mode_servotest.set_servo(packet.param1, packet.param2)) {
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return MAV_RESULT_FAILED;
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}
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return MAV_RESULT_ACCEPTED;
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// mavproxy/mavutil sends this when auto command is entered
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case MAV_CMD_MISSION_START:
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tracker.set_mode(tracker.mode_auto, ModeReason::GCS_COMMAND);
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return MAV_RESULT_ACCEPTED;
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default:
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return GCS_MAVLINK::handle_command_int_packet(packet, msg);
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}
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}
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void GCS_MAVLINK_Tracker::handle_message(const mavlink_message_t &msg)
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{
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switch (msg.msgid) {
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case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
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handle_set_attitude_target(msg);
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break;
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#if AP_TRACKER_SET_HOME_VIA_MISSION_UPLOAD_ENABLED
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// When mavproxy 'wp sethome'
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case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
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handle_message_mission_write_partial_list(msg);
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break;
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// XXX receive a WP from GCS and store in EEPROM if it is HOME
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case MAVLINK_MSG_ID_MISSION_ITEM:
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handle_message_mission_item(msg);
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break;
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#endif
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case MAVLINK_MSG_ID_MANUAL_CONTROL:
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handle_message_manual_control(msg);
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break;
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case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
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handle_message_global_position_int(msg);
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break;
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case MAVLINK_MSG_ID_SCALED_PRESSURE:
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handle_message_scaled_pressure(msg);
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break;
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}
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GCS_MAVLINK::handle_message(msg);
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}
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#if AP_TRACKER_SET_HOME_VIA_MISSION_UPLOAD_ENABLED
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void GCS_MAVLINK_Tracker::handle_message_mission_write_partial_list(const mavlink_message_t &msg)
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{
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// decode
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mavlink_mission_write_partial_list_t packet;
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mavlink_msg_mission_write_partial_list_decode(&msg, &packet);
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if (packet.start_index == 0)
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{
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// New home at wp index 0. Ask for it
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waypoint_receiving = true;
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send_message(MSG_NEXT_MISSION_REQUEST_WAYPOINTS);
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}
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}
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void GCS_MAVLINK_Tracker::handle_message_mission_item(const mavlink_message_t &msg)
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{
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mavlink_mission_item_t packet;
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MAV_MISSION_RESULT result = MAV_MISSION_ACCEPTED;
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mavlink_msg_mission_item_decode(&msg, &packet);
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Location tell_command;
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switch (packet.frame)
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{
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case MAV_FRAME_MISSION:
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case MAV_FRAME_GLOBAL:
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{
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tell_command = Location{
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int32_t(1.0e7f*packet.x), // in as DD converted to * t7
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int32_t(1.0e7f*packet.y), // in as DD converted to * t7
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int32_t(packet.z*1.0e2f), // in as m converted to cm
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Location::AltFrame::ABSOLUTE
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};
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break;
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}
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#ifdef MAV_FRAME_LOCAL_NED
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case MAV_FRAME_LOCAL_NED: // local (relative to home position)
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{
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tell_command = Location{
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int32_t(1.0e7f*degrees(packet.x/(RADIUS_OF_EARTH*cosf(radians(home.lat/1.0e7f)))) + home.lat),
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int32_t(1.0e7f*degrees(packet.y/RADIUS_OF_EARTH) + home.lng),
|
|
int32_t(-packet.z*1.0e2f),
|
|
Location::AltFrame::ABOVE_HOME
|
|
};
|
|
break;
|
|
}
|
|
#endif
|
|
|
|
#ifdef MAV_FRAME_LOCAL
|
|
case MAV_FRAME_LOCAL: // local (relative to home position)
|
|
{
|
|
tell_command = {
|
|
int32_t(1.0e7f*degrees(packet.x/(RADIUS_OF_EARTH*cosf(radians(home.lat/1.0e7f)))) + home.lat),
|
|
int32_t(1.0e7f*degrees(packet.y/RADIUS_OF_EARTH) + home.lng),
|
|
int32_t(packet.z*1.0e2f),
|
|
Location::AltFrame::ABOVE_HOME
|
|
};
|
|
break;
|
|
}
|
|
#endif
|
|
|
|
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // absolute lat/lng, relative altitude
|
|
{
|
|
tell_command = {
|
|
int32_t(1.0e7f * packet.x), // in as DD converted to * t7
|
|
int32_t(1.0e7f * packet.y), // in as DD converted to * t7
|
|
int32_t(packet.z * 1.0e2f),
|
|
Location::AltFrame::ABOVE_HOME
|
|
};
|
|
break;
|
|
}
|
|
|
|
default:
|
|
result = MAV_MISSION_UNSUPPORTED_FRAME;
|
|
break;
|
|
}
|
|
|
|
if (result != MAV_MISSION_ACCEPTED) goto mission_failed;
|
|
|
|
// Check if receiving waypoints (mission upload expected)
|
|
if (!waypoint_receiving) {
|
|
result = MAV_MISSION_ERROR;
|
|
goto mission_failed;
|
|
}
|
|
|
|
// check if this is the HOME wp
|
|
if (packet.seq == 0) {
|
|
if (!tracker.set_home(tell_command, false)) {
|
|
result = MAV_MISSION_ERROR;
|
|
goto mission_failed;
|
|
}
|
|
send_text(MAV_SEVERITY_INFO,"New HOME received");
|
|
waypoint_receiving = false;
|
|
}
|
|
|
|
mission_failed:
|
|
// send ACK (including in success case)
|
|
mavlink_msg_mission_ack_send(
|
|
chan,
|
|
msg.sysid,
|
|
msg.compid,
|
|
result,
|
|
MAV_MISSION_TYPE_MISSION);
|
|
}
|
|
#endif
|
|
|
|
void GCS_MAVLINK_Tracker::handle_message_manual_control(const mavlink_message_t &msg)
|
|
{
|
|
mavlink_manual_control_t packet;
|
|
mavlink_msg_manual_control_decode(&msg, &packet);
|
|
tracker.tracking_manual_control(packet);
|
|
}
|
|
|
|
void GCS_MAVLINK_Tracker::handle_message_global_position_int(const mavlink_message_t &msg)
|
|
{
|
|
// decode
|
|
mavlink_global_position_int_t packet;
|
|
mavlink_msg_global_position_int_decode(&msg, &packet);
|
|
tracker.tracking_update_position(packet);
|
|
}
|
|
|
|
void GCS_MAVLINK_Tracker::handle_message_scaled_pressure(const mavlink_message_t &msg)
|
|
{
|
|
mavlink_scaled_pressure_t packet;
|
|
mavlink_msg_scaled_pressure_decode(&msg, &packet);
|
|
tracker.tracking_update_pressure(packet);
|
|
}
|
|
|
|
// send position tracker is using
|
|
void GCS_MAVLINK_Tracker::send_global_position_int()
|
|
{
|
|
if (!tracker.stationary) {
|
|
GCS_MAVLINK::send_global_position_int();
|
|
return;
|
|
}
|
|
|
|
mavlink_msg_global_position_int_send(
|
|
chan,
|
|
AP_HAL::millis(),
|
|
tracker.current_loc.lat, // in 1E7 degrees
|
|
tracker.current_loc.lng, // in 1E7 degrees
|
|
tracker.current_loc.alt * 10, // millimeters above ground/sea level
|
|
0, // millimeters above home
|
|
0, // X speed cm/s (+ve North)
|
|
0, // Y speed cm/s (+ve East)
|
|
0, // Z speed cm/s (+ve Down)
|
|
tracker.ahrs.yaw_sensor); // compass heading in 1/100 degree
|
|
}
|
|
|
|
// Send the mode with the given index (not mode number!) return the total number of modes
|
|
// Index starts at 1
|
|
uint8_t GCS_MAVLINK_Tracker::send_available_mode(uint8_t index) const
|
|
{
|
|
const Mode* modes[] {
|
|
&tracker.mode_manual,
|
|
&tracker.mode_stop,
|
|
&tracker.mode_scan,
|
|
&tracker.mode_guided,
|
|
&tracker.mode_servotest,
|
|
&tracker.mode_auto,
|
|
&tracker.mode_initialising,
|
|
};
|
|
|
|
const uint8_t mode_count = ARRAY_SIZE(modes);
|
|
|
|
// Convert to zero indexed
|
|
const uint8_t index_zero = index - 1;
|
|
if (index_zero >= mode_count) {
|
|
// Mode does not exist!?
|
|
return mode_count;
|
|
}
|
|
|
|
// Ask the mode for its name and number
|
|
const char* name = modes[index_zero]->name();
|
|
const uint8_t mode_number = (uint8_t)modes[index_zero]->number();
|
|
|
|
mavlink_msg_available_modes_send(
|
|
chan,
|
|
mode_count,
|
|
index,
|
|
MAV_STANDARD_MODE::MAV_STANDARD_MODE_NON_STANDARD,
|
|
mode_number,
|
|
0, // MAV_MODE_PROPERTY bitmask
|
|
name
|
|
);
|
|
|
|
return mode_count;
|
|
}
|