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GCS_Common.cpp
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GCS_Common.cpp
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/*
Common GCS MAVLink functions for all vehicle types
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "GCS.h"
#include <AC_Fence/AC_Fence.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Arming/AP_Arming.h>
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_RangeFinder/AP_RangeFinder_Backend.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Camera/AP_Camera.h>
#include <AP_Gripper/AP_Gripper.h>
#include <AC_Sprayer/AC_Sprayer.h>
#include <AP_BLHeli/AP_BLHeli.h>
#include <AP_RSSI/AP_RSSI.h>
#include <AP_RTC/AP_RTC.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_RCTelemetry/AP_Spektrum_Telem.h>
#include <AP_Mount/AP_Mount.h>
#include <AP_Common/AP_FWVersion.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_OpticalFlow/OpticalFlow.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_EFI/AP_EFI.h>
#include <AP_Proximity/AP_Proximity.h>
#include <AP_Scripting/AP_Scripting.h>
#include <AP_Winch/AP_Winch.h>
#include <AP_OSD/AP_OSD.h>
#include <AP_RCTelemetry/AP_CRSF_Telem.h>
#include <AP_AIS/AP_AIS.h>
#include <stdio.h>
#if HAL_RCINPUT_WITH_AP_RADIO
#include <AP_Radio/AP_Radio.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
#endif
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
#include <AP_CANManager/AP_CANTester.h>
#include <AP_Common/AP_Common.h>
// To be replaced with macro saying if KDECAN library is included
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
#include <AP_KDECAN/AP_KDECAN.h>
#endif
#include <AP_ToshibaCAN/AP_ToshibaCAN.h>
#include <AP_PiccoloCAN/AP_PiccoloCAN.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#endif
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_GPS/AP_GPS.h>
extern const AP_HAL::HAL& hal;
struct GCS_MAVLINK::LastRadioStatus GCS_MAVLINK::last_radio_status;
uint8_t GCS_MAVLINK::mavlink_active = 0;
uint8_t GCS_MAVLINK::chan_is_streaming = 0;
uint32_t GCS_MAVLINK::reserve_param_space_start_ms;
// private channels are ones used for point-to-point protocols, and
// don't get broadcasts or fwded packets
uint8_t GCS_MAVLINK::mavlink_private = 0;
GCS *GCS::_singleton = nullptr;
GCS_MAVLINK::GCS_MAVLINK(GCS_MAVLINK_Parameters ¶meters,
AP_HAL::UARTDriver &uart)
{
_port = &uart;
streamRates = parameters.streamRates;
}
bool GCS_MAVLINK::init(uint8_t instance)
{
// search for serial port
const AP_SerialManager& serial_manager = AP::serialmanager();
const AP_SerialManager::SerialProtocol protocol = AP_SerialManager::SerialProtocol_MAVLink;
// get associated mavlink channel
if (!serial_manager.get_mavlink_channel(protocol, instance, chan)) {
// return immediately in unlikely case mavlink channel cannot be found
return false;
}
// and init the gcs instance
if (!valid_channel(chan)) {
return false;
}
if (!serial_manager.should_forward_mavlink_telemetry(protocol, instance)) {
set_channel_private(chan);
}
/*
Now try to cope with SiK radios that may be stuck in bootloader
mode because CTS was held while powering on. This tells the
bootloader to wait for a firmware. It affects any SiK radio with
CTS connected that is externally powered. To cope we send 0x30
0x20 at 115200 on startup, which tells the bootloader to reset
and boot normally
*/
_port->begin(115200);
AP_HAL::UARTDriver::flow_control old_flow_control = _port->get_flow_control();
_port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
for (uint8_t i=0; i<3; i++) {
hal.scheduler->delay(1);
_port->write(0x30);
_port->write(0x20);
}
// since tcdrain() and TCSADRAIN may not be implemented...
hal.scheduler->delay(1);
_port->set_flow_control(old_flow_control);
// now change back to desired baudrate
_port->begin(serial_manager.find_baudrate(protocol, instance));
mavlink_comm_port[chan] = _port;
AP_SerialManager::SerialProtocol mavlink_protocol = serial_manager.get_mavlink_protocol(chan);
mavlink_status_t *status = mavlink_get_channel_status(chan);
if (status == nullptr) {
return false;
}
if (mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLink2) {
// load signing key
load_signing_key();
if (status->signing == nullptr) {
// if signing is off start by sending MAVLink1.
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
} else if (status) {
// user has asked to only send MAVLink1
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
if (chan == MAVLINK_COMM_0) {
// Always start with MAVLink1 on first port for now, to allow for recovery
// after experiments with MAVLink2
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
return true;
}
void GCS_MAVLINK::send_meminfo(void)
{
unsigned __brkval = 0;
uint32_t memory = hal.util->available_memory();
mavlink_msg_meminfo_send(chan, __brkval, MIN(memory, 0xFFFFU), memory);
}
// report power supply status
void GCS_MAVLINK::send_power_status(void)
{
if (!gcs().vehicle_initialised()) {
// avoid unnecessary errors being reported to user
return;
}
mavlink_msg_power_status_send(chan,
hal.analogin->board_voltage() * 1000,
hal.analogin->servorail_voltage() * 1000,
hal.analogin->power_status_flags());
}
void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
{
// catch the battery backend not supporting the required number of cells
static_assert(sizeof(AP_BattMonitor::cells) >= (sizeof(uint16_t) * MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN),
"Not enough battery cells for the MAVLink message");
const AP_BattMonitor &battery = AP::battery();
float temp;
bool got_temperature = battery.get_temperature(temp, instance);
// prepare arrays of individual cell voltages
uint16_t cell_volts[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN];
uint16_t cell_volts_ext[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_EXT_LEN];
if (battery.has_cell_voltages(instance)) {
const AP_BattMonitor::cells& batt_cells = battery.get_cell_voltages(instance);
// copy the first 10 cells
memcpy(cell_volts, batt_cells.cells, sizeof(cell_volts));
// 11 ... 14 use a second cell_volts_ext array
for (uint8_t i = 0; i < MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_EXT_LEN; i++) {
if (MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN+i < uint8_t(ARRAY_SIZE(batt_cells.cells))) {
cell_volts_ext[i] = batt_cells.cells[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN+i];
} else {
cell_volts_ext[i] = 0;
}
}
} else {
// for battery monitors that cannot provide voltages for individual cells the battery's total voltage is put into the first cell
// if the total voltage cannot fit into a single field, the remainder into subsequent fields.
// the GCS can then recover the pack voltage by summing all non ignored cell values an we can report a pack up to 655.34 V
float voltage = battery.voltage(instance) * 1e3f;
for (uint8_t i = 0; i < MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN; i++) {
if (voltage < 0.001f) {
// too small to send to the GCS, set it to the no cell value
cell_volts[i] = UINT16_MAX;
} else {
cell_volts[i] = MIN(voltage, 65534.0f); // Can't send more then UINT16_MAX - 1 in a cell
voltage -= 65534.0f;
}
}
for (uint8_t i = 0; i < MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_EXT_LEN; i++) {
cell_volts_ext[i] = 0;
}
}
float current, consumed_mah, consumed_wh;
if (battery.current_amps(current, instance)) {
current = constrain_float(current * 100,-INT16_MAX,INT16_MAX);
} else {
current = -1;
}
if (!battery.consumed_mah(consumed_mah, instance)) {
consumed_mah = -1;
}
if (battery.consumed_wh(consumed_wh, instance)) {
consumed_wh *= 36;
} else {
consumed_wh = -1;
}
mavlink_msg_battery_status_send(chan,
instance, // id
MAV_BATTERY_FUNCTION_UNKNOWN, // function
MAV_BATTERY_TYPE_UNKNOWN, // type
got_temperature ? ((int16_t) (temp * 100)) : INT16_MAX, // temperature. INT16_MAX if unknown
cell_volts, // cell voltages
current, // current in centiampere
consumed_mah, // total consumed current in milliampere.hour
consumed_wh, // consumed energy in hJ (hecto-Joules)
battery.capacity_remaining_pct(instance),
0, // time remaining, seconds (not provided)
battery.get_mavlink_charge_state(instance), // battery charge state
cell_volts_ext); // Cell 11..14 voltages
}
// returns true if all battery instances were reported
bool GCS_MAVLINK::send_battery_status()
{
const AP_BattMonitor &battery = AP::battery();
for(uint8_t i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) {
const uint8_t battery_id = (last_battery_status_idx + 1) % AP_BATT_MONITOR_MAX_INSTANCES;
if (battery.get_type(battery_id) != AP_BattMonitor::Type::NONE) {
CHECK_PAYLOAD_SIZE(BATTERY_STATUS);
send_battery_status(battery_id);
last_battery_status_idx = battery_id;
return true;
} else {
last_battery_status_idx = battery_id;
}
}
return true;
}
void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const
{
if (!sensor->has_data()) {
return;
}
mavlink_msg_distance_sensor_send(
chan,
AP_HAL::millis(), // time since system boot TODO: take time of measurement
sensor->min_distance_cm(), // minimum distance the sensor can measure in centimeters
sensor->max_distance_cm(), // maximum distance the sensor can measure in centimeters
sensor->distance_cm(), // current distance reading
sensor->get_mav_distance_sensor_type(), // type from MAV_DISTANCE_SENSOR enum
instance, // onboard ID of the sensor == instance
sensor->orientation(), // direction the sensor faces from MAV_SENSOR_ORIENTATION enum
0, // Measurement covariance in centimeters, 0 for unknown / invalid readings
0, // horizontal FOV
0, // vertical FOV
(const float *)nullptr, // quaternion of sensor orientation for MAV_SENSOR_ROTATION_CUSTOM
0); // Signal quality of the sensor. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.
}
// send any and all distance_sensor messages. This starts by sending
// any distance sensors not used by a Proximity sensor, then sends the
// proximity sensor ones.
void GCS_MAVLINK::send_distance_sensor()
{
RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder == nullptr) {
return;
}
// if we have a proximity backend that utilizes rangefinders cull
// sending them here, and allow the later proximity code to manage
// them
bool filter_possible_proximity_sensors = false;
#if HAL_PROXIMITY_ENABLED
AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity != nullptr) {
for (uint8_t i = 0; i < proximity->num_sensors(); i++) {
if (proximity->get_type(i) == AP_Proximity::Type::RangeFinder) {
filter_possible_proximity_sensors = true;
}
}
}
#endif
for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++) {
if (!HAVE_PAYLOAD_SPACE(chan, DISTANCE_SENSOR)) {
return;
}
AP_RangeFinder_Backend *sensor = rangefinder->get_backend(i);
if (sensor == nullptr) {
continue;
}
enum Rotation orient = sensor->orientation();
if (!filter_possible_proximity_sensors ||
(orient > ROTATION_YAW_315 && orient != ROTATION_PITCH_90)) {
send_distance_sensor(sensor, i);
}
}
send_proximity();
}
void GCS_MAVLINK::send_rangefinder() const
{
RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder == nullptr) {
return;
}
AP_RangeFinder_Backend *s = rangefinder->find_instance(ROTATION_PITCH_270);
if (s == nullptr) {
return;
}
mavlink_msg_rangefinder_send(
chan,
s->distance_cm() * 0.01f,
s->voltage_mv() * 0.001f);
}
void GCS_MAVLINK::send_proximity()
{
#if HAL_PROXIMITY_ENABLED
AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity == nullptr) {
return; // this is wrong, but pretend we sent data and don't requeue
}
// get min/max distances
const uint16_t dist_min = (uint16_t)(proximity->distance_min() * 100.0f); // minimum distance the sensor can measure in centimeters
const uint16_t dist_max = (uint16_t)(proximity->distance_max() * 100.0f); // maximum distance the sensor can measure in centimeters
// send horizontal distances
if (proximity->get_status() == AP_Proximity::Status::Good) {
AP_Proximity::Proximity_Distance_Array dist_array;
if (proximity->get_horizontal_distances(dist_array)) {
for (uint8_t i = 0; i < PROXIMITY_MAX_DIRECTION; i++) {
if (!HAVE_PAYLOAD_SPACE(chan, DISTANCE_SENSOR)) {
return;
}
if (dist_array.valid(i)) {
proximity_ever_valid_bitmask |= (1U << i);
} else if (!(proximity_ever_valid_bitmask & (1U << i))) {
// we've never sent this distance out, so we don't
// need to send an invalid one.
continue;
}
mavlink_msg_distance_sensor_send(
chan,
AP_HAL::millis(), // time since system boot
dist_min, // minimum distance the sensor can measure in centimeters
dist_max, // maximum distance the sensor can measure in centimeters
(uint16_t)(dist_array.distance[i] * 100.0f), // current distance reading
MAV_DISTANCE_SENSOR_LASER, // type from MAV_DISTANCE_SENSOR enum
PROXIMITY_SENSOR_ID_START + i, // onboard ID of the sensor
dist_array.orientation[i], // direction the sensor faces from MAV_SENSOR_ORIENTATION enum
0, // Measurement covariance in centimeters, 0 for unknown / invalid readings
0, 0, nullptr, 0);
}
}
}
// send upward distance
float dist_up;
if (proximity->get_upward_distance(dist_up)) {
if (!HAVE_PAYLOAD_SPACE(chan, DISTANCE_SENSOR)) {
return;
}
mavlink_msg_distance_sensor_send(
chan,
AP_HAL::millis(), // time since system boot
dist_min, // minimum distance the sensor can measure in centimeters
dist_max, // maximum distance the sensor can measure in centimeters
(uint16_t)(dist_up * 100.0f), // current distance reading
MAV_DISTANCE_SENSOR_LASER, // type from MAV_DISTANCE_SENSOR enum
PROXIMITY_SENSOR_ID_START + PROXIMITY_MAX_DIRECTION + 1, // onboard ID of the sensor
MAV_SENSOR_ROTATION_PITCH_90, // direction upwards
0, // Measurement covariance in centimeters, 0 for unknown / invalid readings
0, 0, nullptr, 0);
}
#endif // HAL_PROXIMITY_ENABLED
}
// report AHRS2 state
void GCS_MAVLINK::send_ahrs2()
{
const AP_AHRS &ahrs = AP::ahrs();
Vector3f euler;
struct Location loc {};
// we want one or both of these, use | to avoid short-circuiting:
if (ahrs.get_secondary_attitude(euler) |
ahrs.get_secondary_position(loc)) {
mavlink_msg_ahrs2_send(chan,
euler.x,
euler.y,
euler.z,
loc.alt*1.0e-2f,
loc.lat,
loc.lng);
}
}
MissionItemProtocol *GCS::get_prot_for_mission_type(const MAV_MISSION_TYPE mission_type) const
{
switch (mission_type) {
case MAV_MISSION_TYPE_MISSION:
return _missionitemprotocol_waypoints;
case MAV_MISSION_TYPE_RALLY:
return _missionitemprotocol_rally;
case MAV_MISSION_TYPE_FENCE:
return _missionitemprotocol_fence;
default:
return nullptr;
}
}
// handle a request for the number of items we have stored for a mission type:
void GCS_MAVLINK::handle_mission_request_list(const mavlink_message_t &msg)
{
// decode
mavlink_mission_request_list_t packet;
mavlink_msg_mission_request_list_decode(&msg, &packet);
MissionItemProtocol *prot = gcs().get_prot_for_mission_type((MAV_MISSION_TYPE)packet.mission_type);
if (prot == nullptr) {
mavlink_msg_mission_ack_send(chan,
msg.sysid,
msg.compid,
MAV_MISSION_UNSUPPORTED,
packet.mission_type);
return;
}
prot->handle_mission_request_list(*this, packet, msg);
}
/*
handle a MISSION_REQUEST mavlink packet
*/
void GCS_MAVLINK::handle_mission_request_int(const mavlink_message_t &msg) const
{
// decode
mavlink_mission_request_int_t packet;
mavlink_msg_mission_request_int_decode(&msg, &packet);
MissionItemProtocol *prot = gcs().get_prot_for_mission_type((MAV_MISSION_TYPE)packet.mission_type);
if (prot == nullptr) {
return;
}
prot->handle_mission_request_int(*this, packet, msg);
}
void GCS_MAVLINK::handle_mission_request(const mavlink_message_t &msg) const
{
// decode
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(&msg, &packet);
MissionItemProtocol *prot = gcs().get_prot_for_mission_type((MAV_MISSION_TYPE)packet.mission_type);
if (prot == nullptr) {
return;
}
prot->handle_mission_request(*this, packet, msg);
}
/*
handle a MISSION_SET_CURRENT mavlink packet
Note that there exists a relatively new mavlink DO command,
MAV_CMD_DO_SET_MISSION_CURRENT which provides an acknowledgement
that the command has been received, rather than the GCS having to
rely on getting back an identical sequence number as some currently
do.
*/
void GCS_MAVLINK::handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg)
{
// decode
mavlink_mission_set_current_t packet;
mavlink_msg_mission_set_current_decode(&msg, &packet);
// set current command
if (mission.set_current_cmd(packet.seq)) {
// because MISSION_SET_CURRENT is a message not a command,
// there is not ACK associated with us successfully changing
// our waypoint. Some GCSs use the fact we return exactly the
// same mission sequence number in this packet as an ACK - so
// if they send a MISSION_SET_CURRENT with seq number of 4
// then they expect to receive a MISSION_CURRENT message with
// exactly that sequence number in it, even if ArduPilot never
// actually holds that as a sequence number (e.g. packet.seq==0).
if (HAVE_PAYLOAD_SPACE(chan, MISSION_CURRENT)) {
mavlink_msg_mission_current_send(chan, packet.seq);
} else {
// schedule it for later:
send_message(MSG_CURRENT_WAYPOINT);
}
}
}
/*
handle a MISSION_COUNT mavlink packet
*/
void GCS_MAVLINK::handle_mission_count(const mavlink_message_t &msg)
{
// decode
mavlink_mission_count_t packet;
mavlink_msg_mission_count_decode(&msg, &packet);
MissionItemProtocol *prot = gcs().get_prot_for_mission_type((MAV_MISSION_TYPE)packet.mission_type);
if (prot == nullptr) {
mavlink_msg_mission_ack_send(chan,
msg.sysid,
msg.compid,
MAV_MISSION_UNSUPPORTED,
packet.mission_type);
return;
}
prot->handle_mission_count(*this, packet, msg);
}
/*
handle a MISSION_CLEAR_ALL mavlink packet
*/
void GCS_MAVLINK::handle_mission_clear_all(const mavlink_message_t &msg) const
{
// decode
mavlink_mission_clear_all_t packet;
mavlink_msg_mission_clear_all_decode(&msg, &packet);
const MAV_MISSION_TYPE mission_type = (MAV_MISSION_TYPE)packet.mission_type;
MissionItemProtocol *prot = gcs().get_prot_for_mission_type(mission_type);
if (prot == nullptr) {
send_mission_ack(msg, mission_type, MAV_MISSION_UNSUPPORTED);
return;
}
prot->handle_mission_clear_all(*this, msg);
}
bool GCS_MAVLINK::requesting_mission_items() const
{
for (uint8_t i=0; i<ARRAY_SIZE(supported_mission_types); i++) {
MissionItemProtocol *prot = gcs().get_prot_for_mission_type(supported_mission_types[i]);
if (prot && prot->receiving && prot->active_link_is(this)) {
return true;
}
}
return false;
}
void GCS_MAVLINK::handle_mission_write_partial_list(const mavlink_message_t &msg)
{
// decode
mavlink_mission_write_partial_list_t packet;
mavlink_msg_mission_write_partial_list_decode(&msg, &packet);
MissionItemProtocol *use_prot = gcs().get_prot_for_mission_type((MAV_MISSION_TYPE)packet.mission_type);
if (use_prot == nullptr) {
send_mission_ack(msg, (MAV_MISSION_TYPE)packet.mission_type, MAV_MISSION_UNSUPPORTED);
return;
}
use_prot->handle_mission_write_partial_list(*this, msg, packet);
}
/*
pass mavlink messages to the AP_Mount singleton
*/
void GCS_MAVLINK::handle_mount_message(const mavlink_message_t &msg)
{
#if HAL_MOUNT_ENABLED
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return;
}
mount->handle_message(chan, msg);
#endif
}
/*
pass parameter value messages through to mount library
*/
void GCS_MAVLINK::handle_param_value(const mavlink_message_t &msg)
{
#if HAL_MOUNT_ENABLED
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return;
}
mount->handle_param_value(msg);
#endif
}
void GCS_MAVLINK::send_text(MAV_SEVERITY severity, const char *fmt, ...) const
{
va_list arg_list;
va_start(arg_list, fmt);
gcs().send_textv(severity, fmt, arg_list, (1<<chan));
va_end(arg_list);
}
float GCS_MAVLINK::telemetry_radio_rssi()
{
if (AP_HAL::millis() - last_radio_status.received_ms > 5000) {
// telemetry radio has disappeared?!
return 0;
}
if (last_radio_status.rssi == 255) {
// see RADIO_STATUS packet definition
return 0;
}
return last_radio_status.rssi/254.0f;
}
void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_radio)
{
mavlink_radio_t packet;
mavlink_msg_radio_decode(&msg, &packet);
const uint32_t now = AP_HAL::millis();
last_radio_status.received_ms = now;
last_radio_status.rssi = packet.rssi;
// record if the GCS has been receiving radio messages from
// the aircraft
if (packet.remrssi != 0) {
last_radio_status.remrssi_ms = now;
}
last_txbuf = packet.txbuf;
// use the state of the transmit buffer in the radio to
// control the stream rate, giving us adaptive software
// flow control
if (packet.txbuf < 20 && stream_slowdown_ms < 2000) {
// we are very low on space - slow down a lot
stream_slowdown_ms += 60;
} else if (packet.txbuf < 50 && stream_slowdown_ms < 2000) {
// we are a bit low on space, slow down slightly
stream_slowdown_ms += 20;
} else if (packet.txbuf > 95 && stream_slowdown_ms > 200) {
// the buffer has plenty of space, speed up a lot
stream_slowdown_ms -= 40;
} else if (packet.txbuf > 90 && stream_slowdown_ms != 0) {
// the buffer has enough space, speed up a bit
stream_slowdown_ms -= 20;
}
#if GCS_DEBUG_SEND_MESSAGE_TIMINGS
if (stream_slowdown_ms > max_slowdown_ms) {
max_slowdown_ms = stream_slowdown_ms;
}
#endif
//log rssi, noise, etc if logging Performance monitoring data
if (log_radio) {
AP::logger().Write_Radio(packet);
}
}
/*
handle an incoming mission item
return true if this is the last mission item, otherwise false
*/
void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
{
// TODO: rename packet to mission_item_int
mavlink_mission_item_int_t packet;
if (msg.msgid == MAVLINK_MSG_ID_MISSION_ITEM) {
mavlink_mission_item_t mission_item;
mavlink_msg_mission_item_decode(&msg, &mission_item);
MAV_MISSION_RESULT ret = AP_Mission::convert_MISSION_ITEM_to_MISSION_ITEM_INT(mission_item, packet);
if (ret != MAV_MISSION_ACCEPTED) {
const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)packet.mission_type;
send_mission_ack(msg, type, ret);
return;
}
} else {
mavlink_msg_mission_item_int_decode(&msg, &packet);
}
const uint8_t current = packet.current;
const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)packet.mission_type;
if (type == MAV_MISSION_TYPE_MISSION && (current == 2 || current == 3)) {
struct AP_Mission::Mission_Command cmd = {};
MAV_MISSION_RESULT result = AP_Mission::mavlink_int_to_mission_cmd(packet, cmd);
if (result != MAV_MISSION_ACCEPTED) {
//decode failed
send_mission_ack(msg, MAV_MISSION_TYPE_MISSION, result);
return;
}
// guided or change-alt
if (current == 2) {
// current = 2 is a flag to tell us this is a "guided mode"
// waypoint and not for the mission
result = (handle_guided_request(cmd) ? MAV_MISSION_ACCEPTED
: MAV_MISSION_ERROR) ;
} else if (current == 3) {
//current = 3 is a flag to tell us this is a alt change only
// add home alt if needed
handle_change_alt_request(cmd);
// verify we recevied the command
result = MAV_MISSION_ACCEPTED;
}
send_mission_ack(msg, MAV_MISSION_TYPE_MISSION, result);
return;
}
// not a guided-mode reqest
MissionItemProtocol *prot = gcs().get_prot_for_mission_type(type);
if (prot == nullptr) {
send_mission_ack(msg, type, MAV_MISSION_UNSUPPORTED);
return;
}
if (!prot->receiving) {
send_mission_ack(msg, type, MAV_MISSION_ERROR);
return;
}
prot->handle_mission_item(msg, packet);
}
ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) const
{
// MSG_NEXT_MISSION_REQUEST doesn't correspond to a mavlink message directly.
// It is used to request the next waypoint after receiving one.
// MSG_NEXT_PARAM doesn't correspond to a mavlink message directly.
// It is used to send the next parameter in a stream after sending one
// MSG_NAMED_FLOAT messages can't really be "streamed"...
static const struct {
uint32_t mavlink_id;
ap_message msg_id;
} map[] {
{ MAVLINK_MSG_ID_HEARTBEAT, MSG_HEARTBEAT},
{ MAVLINK_MSG_ID_ATTITUDE, MSG_ATTITUDE},
{ MAVLINK_MSG_ID_ATTITUDE_QUATERNION, MSG_ATTITUDE_QUATERNION},
{ MAVLINK_MSG_ID_GLOBAL_POSITION_INT, MSG_LOCATION},
{ MAVLINK_MSG_ID_HOME_POSITION, MSG_HOME},
{ MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, MSG_ORIGIN},
{ MAVLINK_MSG_ID_SYS_STATUS, MSG_SYS_STATUS},
{ MAVLINK_MSG_ID_POWER_STATUS, MSG_POWER_STATUS},
{ MAVLINK_MSG_ID_MEMINFO, MSG_MEMINFO},
{ MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, MSG_NAV_CONTROLLER_OUTPUT},
{ MAVLINK_MSG_ID_MISSION_CURRENT, MSG_CURRENT_WAYPOINT},
{ MAVLINK_MSG_ID_VFR_HUD, MSG_VFR_HUD},
{ MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, MSG_SERVO_OUTPUT_RAW},
{ MAVLINK_MSG_ID_RC_CHANNELS, MSG_RC_CHANNELS},
{ MAVLINK_MSG_ID_RC_CHANNELS_RAW, MSG_RC_CHANNELS_RAW},
{ MAVLINK_MSG_ID_RAW_IMU, MSG_RAW_IMU},
{ MAVLINK_MSG_ID_SCALED_IMU, MSG_SCALED_IMU},
{ MAVLINK_MSG_ID_SCALED_IMU2, MSG_SCALED_IMU2},
{ MAVLINK_MSG_ID_SCALED_IMU3, MSG_SCALED_IMU3},
{ MAVLINK_MSG_ID_SCALED_PRESSURE, MSG_SCALED_PRESSURE},
{ MAVLINK_MSG_ID_SCALED_PRESSURE2, MSG_SCALED_PRESSURE2},
{ MAVLINK_MSG_ID_SCALED_PRESSURE3, MSG_SCALED_PRESSURE3},
{ MAVLINK_MSG_ID_SENSOR_OFFSETS, MSG_SENSOR_OFFSETS},
{ MAVLINK_MSG_ID_GPS_RAW_INT, MSG_GPS_RAW},
{ MAVLINK_MSG_ID_GPS_RTK, MSG_GPS_RTK},
{ MAVLINK_MSG_ID_GPS2_RAW, MSG_GPS2_RAW},
{ MAVLINK_MSG_ID_GPS2_RTK, MSG_GPS2_RTK},
{ MAVLINK_MSG_ID_SYSTEM_TIME, MSG_SYSTEM_TIME},
{ MAVLINK_MSG_ID_RC_CHANNELS_SCALED, MSG_SERVO_OUT},
{ MAVLINK_MSG_ID_PARAM_VALUE, MSG_NEXT_PARAM},
{ MAVLINK_MSG_ID_FENCE_STATUS, MSG_FENCE_STATUS},
{ MAVLINK_MSG_ID_AHRS, MSG_AHRS},
{ MAVLINK_MSG_ID_SIMSTATE, MSG_SIMSTATE},
{ MAVLINK_MSG_ID_SIM_STATE, MSG_SIM_STATE},
{ MAVLINK_MSG_ID_AHRS2, MSG_AHRS2},
{ MAVLINK_MSG_ID_HWSTATUS, MSG_HWSTATUS},
{ MAVLINK_MSG_ID_WIND, MSG_WIND},
{ MAVLINK_MSG_ID_RANGEFINDER, MSG_RANGEFINDER},
{ MAVLINK_MSG_ID_DISTANCE_SENSOR, MSG_DISTANCE_SENSOR},
// request also does report:
{ MAVLINK_MSG_ID_TERRAIN_REQUEST, MSG_TERRAIN},
{ MAVLINK_MSG_ID_BATTERY2, MSG_BATTERY2},
{ MAVLINK_MSG_ID_CAMERA_FEEDBACK, MSG_CAMERA_FEEDBACK},
{ MAVLINK_MSG_ID_MOUNT_STATUS, MSG_MOUNT_STATUS},
{ MAVLINK_MSG_ID_OPTICAL_FLOW, MSG_OPTICAL_FLOW},
{ MAVLINK_MSG_ID_GIMBAL_REPORT, MSG_GIMBAL_REPORT},
{ MAVLINK_MSG_ID_MAG_CAL_PROGRESS, MSG_MAG_CAL_PROGRESS},
{ MAVLINK_MSG_ID_MAG_CAL_REPORT, MSG_MAG_CAL_REPORT},
{ MAVLINK_MSG_ID_EKF_STATUS_REPORT, MSG_EKF_STATUS_REPORT},
{ MAVLINK_MSG_ID_LOCAL_POSITION_NED, MSG_LOCAL_POSITION},
{ MAVLINK_MSG_ID_PID_TUNING, MSG_PID_TUNING},
{ MAVLINK_MSG_ID_VIBRATION, MSG_VIBRATION},
{ MAVLINK_MSG_ID_RPM, MSG_RPM},
{ MAVLINK_MSG_ID_MISSION_ITEM_REACHED, MSG_MISSION_ITEM_REACHED},
{ MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, MSG_POSITION_TARGET_GLOBAL_INT},
{ MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, MSG_POSITION_TARGET_LOCAL_NED},
{ MAVLINK_MSG_ID_ADSB_VEHICLE, MSG_ADSB_VEHICLE},
{ MAVLINK_MSG_ID_BATTERY_STATUS, MSG_BATTERY_STATUS},
{ MAVLINK_MSG_ID_AOA_SSA, MSG_AOA_SSA},
{ MAVLINK_MSG_ID_DEEPSTALL, MSG_LANDING},
{ MAVLINK_MSG_ID_EXTENDED_SYS_STATE, MSG_EXTENDED_SYS_STATE},
{ MAVLINK_MSG_ID_AUTOPILOT_VERSION, MSG_AUTOPILOT_VERSION},
{ MAVLINK_MSG_ID_EFI_STATUS, MSG_EFI_STATUS},
{ MAVLINK_MSG_ID_GENERATOR_STATUS, MSG_GENERATOR_STATUS},
{ MAVLINK_MSG_ID_WINCH_STATUS, MSG_WINCH_STATUS},
{ MAVLINK_MSG_ID_WATER_DEPTH, MSG_WATER_DEPTH},
{ MAVLINK_MSG_ID_HIGH_LATENCY2, MSG_HIGH_LATENCY2},
{ MAVLINK_MSG_ID_AIS_VESSEL, MSG_AIS_VESSEL},
};
for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
if (map[i].mavlink_id == mavlink_id) {
return map[i].msg_id;
}
}
return MSG_LAST;
}
bool GCS_MAVLINK::set_mavlink_message_id_interval(const uint32_t mavlink_id,
const uint16_t interval_ms)
{
const ap_message id = mavlink_id_to_ap_message_id(mavlink_id);
if (id == MSG_LAST) {
gcs().send_text(MAV_SEVERITY_INFO, "No ap_message for mavlink id (%u)", (unsigned int)mavlink_id);
return false;
}
return set_ap_message_interval(id, interval_ms);
}
bool GCS_MAVLINK::should_send_message_in_delay_callback(const ap_message id) const
{
// No ID we return true for may take more than a few hundred
// microseconds to return!
switch (id) {
case MSG_HEARTBEAT:
case MSG_NEXT_PARAM:
case MSG_AUTOPILOT_VERSION:
return true;
default:
return false;
}
return false;
}
uint16_t GCS_MAVLINK::get_reschedule_interval_ms(const deferred_message_bucket_t &deferred) const
{
uint32_t interval_ms = deferred.interval_ms;
interval_ms += stream_slowdown_ms;
// slow most messages down if we're transfering parameters or
// waypoints:
if (_queued_parameter) {
// we are sending parameters, penalize streams:
interval_ms *= 4;
}
if (requesting_mission_items()) {
// we are sending requests for waypoints, penalize streams:
interval_ms *= 4;
}
if (ftp.replies && AP_HAL::millis() - ftp.last_send_ms < 500) {
// we are sending ftp replies
interval_ms *= 4;
}
if (interval_ms > 60000) {
return 60000;
}
return interval_ms;
}
// typical runtime on fmuv3: 5 microseconds for 3 buckets
void GCS_MAVLINK::find_next_bucket_to_send(uint16_t now16_ms)
{
#if GCS_DEBUG_SEND_MESSAGE_TIMINGS
void *data = hal.scheduler->disable_interrupts_save();
uint32_t start_us = AP_HAL::micros();
#endif
// all done sending this bucket... find another bucket...
sending_bucket_id = no_bucket_to_send;
uint16_t ms_before_send_next_bucket_to_send = UINT16_MAX;
for (uint8_t i=0; i<ARRAY_SIZE(deferred_message_bucket); i++) {
if (deferred_message_bucket[i].ap_message_ids.count() == 0) {
// no entries
continue;
}
const uint16_t interval = get_reschedule_interval_ms(deferred_message_bucket[i]);
const uint16_t ms_since_last_sent = now16_ms - deferred_message_bucket[i].last_sent_ms;
uint16_t ms_before_send_this_bucket;
if (ms_since_last_sent > interval) {
// should already have sent this bucket!
ms_before_send_this_bucket = 0;
} else {
ms_before_send_this_bucket = interval - ms_since_last_sent;
}
if (ms_before_send_this_bucket < ms_before_send_next_bucket_to_send) {
sending_bucket_id = i;
ms_before_send_next_bucket_to_send = ms_before_send_this_bucket;
}
}
if (sending_bucket_id != no_bucket_to_send) {
bucket_message_ids_to_send = deferred_message_bucket[sending_bucket_id].ap_message_ids;
} else {
bucket_message_ids_to_send.clearall();
}
#if GCS_DEBUG_SEND_MESSAGE_TIMINGS
uint32_t delta_us = AP_HAL::micros() - start_us;
hal.scheduler->restore_interrupts(data);
if (delta_us > try_send_message_stats.fnbts_maxtime) {
try_send_message_stats.fnbts_maxtime = delta_us;
}
#endif
}
ap_message GCS_MAVLINK::next_deferred_bucket_message_to_send(uint16_t now16_ms)
{
if (sending_bucket_id == no_bucket_to_send) {
// could happen if all streamrates are zero?
return no_message_to_send;
}
const uint16_t ms_since_last_sent = now16_ms - deferred_message_bucket[sending_bucket_id].last_sent_ms;
if (ms_since_last_sent < get_reschedule_interval_ms(deferred_message_bucket[sending_bucket_id])) {
// not time to send this bucket
return no_message_to_send;
}
const int16_t next = bucket_message_ids_to_send.first_set();
if (next == -1) {
// should not happen
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("next_deferred_bucket_message_to_send called on empty bucket");
#endif
find_next_bucket_to_send(now16_ms);
return no_message_to_send;
}
return (ap_message)next;
}
// call try_send_message if appropriate. Incorporates debug code to
// record how long it takes to send a message. try_send_message is
// expected to be overridden, not this function.
bool GCS_MAVLINK::do_try_send_message(const ap_message id)
{
const bool in_delay_callback = hal.scheduler->in_delay_callback();
if (in_delay_callback && !should_send_message_in_delay_callback(id)) {
return true;
}