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Add copilot support for forwarding paylaod commands to the mission computer and back (#2302)

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This commit is contained in:
Michal Podhradsky
2018-07-25 08:05:00 -07:00
committed by GitHub
parent 6c7334f0da
commit ae80024665
4 changed files with 42 additions and 23 deletions
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conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
+3 -1
View File
@@ -63,7 +63,9 @@ AggieAir Atomic Tangerine
<module name="nav" type="skid_landing"/>
<module name="sys_mon"/>
<module name="copilot"/>
<module name="copilot">
<define name="FORWARD_PAYLOAD" value="TRUE"/>
</module>
<module name="extra_dl">
<!-- in order to use uart1 without chibios we need to remap the peripheral-->
<define name="REMAP_UART1" value="TRUE"/>
conf/modules/copilot.xml
+1
View File
@@ -34,6 +34,7 @@
<datalink message="CAMERA_PAYLOAD_DL" fun="copilot_parse_cam_payload_dl(buf)"/>
<datalink message="COPILOT_STATUS_DL" fun="copilot_parse_copilot_status_dl(buf)"/>
<datalink message="MOVE_WP" fun="copilot_parse_move_wp_dl(buf)"/>
<datalink message="PAYLOAD_COMMAND" fun="copilot_parse_payload_command_dl(buf)"/>
<makefile target="ap">
<file name="copilot_common.c"/>
</makefile>
sw/airborne/modules/mission/copilot.h
+1
View File
@@ -92,6 +92,7 @@ void copilot_parse_cam_snapshot_dl(uint8_t *buf);
void copilot_parse_cam_payload_dl(uint8_t *buf);
void copilot_parse_copilot_status_dl(uint8_t *buf);
void copilot_parse_move_wp_dl(uint8_t *buf);
void copilot_parse_payload_command_dl(uint8_t *buf);
#endif /* COPILOT_H */
sw/airborne/modules/mission/copilot_common.c
+37 -22
View File
@@ -76,35 +76,26 @@ void copilot_init(void)
void copilot_periodic(void)
{
PPRZ_MUTEX_LOCK(copilot_cam_snapshot_mtx);
if (send_cam_snapshot)
{
if (send_cam_snapshot) {
// send down to GCS
DOWNLINK_SEND_CAMERA_SNAPSHOT(DefaultChannel, DefaultDevice,
&cam_snapshot.cam_id,
&cam_snapshot.cam_state,
&cam_snapshot.snapshot_num,
&cam_snapshot.snapshot_valid,
&cam_snapshot.lens_temp,
&cam_snapshot.array_temp);
&cam_snapshot.cam_id, &cam_snapshot.cam_state,
&cam_snapshot.snapshot_num, &cam_snapshot.snapshot_valid,
&cam_snapshot.lens_temp, &cam_snapshot.array_temp);
send_cam_snapshot = false;
}
PPRZ_MUTEX_UNLOCK(copilot_cam_snapshot_mtx);
PPRZ_MUTEX_LOCK(copilot_cam_payload_mtx);
if (send_cam_payload)
{
if (send_cam_payload) {
// NOTE: to send the message over the EXTRA_DL port
// use "DOWNLINK_SEND_CAMERA_PAYLOAD(extra_pprz_tp, EXTRA_DOWNLINK_DEVICE,"
// send down to GCS
DOWNLINK_SEND_CAMERA_PAYLOAD(DefaultChannel, DefaultDevice,
&cam_payload.timestamp,
&cam_payload.used_mem,
&cam_payload.used_disk,
&cam_payload.door_status,
&cam_payload.error_code);
&cam_payload.timestamp, &cam_payload.used_mem, &cam_payload.used_disk,
&cam_payload.door_status, &cam_payload.error_code);
send_cam_payload = false;
}
@@ -112,13 +103,10 @@ void copilot_periodic(void)
PPRZ_MUTEX_LOCK(copilot_status_mtx);
// send down to GCS
if (send_copilot_status)
{
if (send_copilot_status) {
DOWNLINK_SEND_COPILOT_STATUS(DefaultChannel, DefaultDevice,
&copilot_status.timestamp,
&copilot_status.used_mem,
&copilot_status.used_disk,
&copilot_status.status,
&copilot_status.timestamp, &copilot_status.used_mem,
&copilot_status.used_disk, &copilot_status.status,
&copilot_status.error_code);
send_copilot_status = false;
@@ -188,3 +176,30 @@ void copilot_parse_copilot_status_dl(uint8_t *buf)
PPRZ_MUTEX_UNLOCK(copilot_status_mtx);
}
/**
* Pass through PAYLOAD_COMMAND message
* and send it as PAYLOAD msg over telemetry
*/
void copilot_parse_payload_command_dl(uint8_t *buf __attribute__((unused)))
{
#if FORWARD_PAYLOAD
MESSAGE("Forwarding PAYLOAD_COMMAND messages.")
// Check if message was for us
if (DL_PAYLOAD_COMMAND_ac_id(buf) == AC_ID) {
uint8_t len = DL_PAYLOAD_COMMAND_command_length(buf);
if (buf == extra_dl_buffer) {
// Message came from extra_dl, forward to GCS via telemetry
DOWNLINK_SEND_PAYLOAD(DefaultChannel, DefaultDevice,
len, DL_PAYLOAD_COMMAND_command(buf));
}
if (buf == dl_buffer) {
// Message came from GCS/Telemetry, forward to extra_dl
DOWNLINK_SEND_PAYLOAD(extra_pprz_tp, EXTRA_DOWNLINK_DEVICE,
len, DL_PAYLOAD_COMMAND_command(buf));
}
}
#endif /* FORWARD_PAYLOAD */
}