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mavlink_receiver.cpp
3515 lines (2767 loc) · 115 KB
/
mavlink_receiver.cpp
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/****************************************************************************
*
* Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_receiver.cpp
* MAVLink protocol message receive and dispatch
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Anton Babushkin <anton@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
#include <lib/airspeed/airspeed.h>
#include <lib/conversion/rotation.h>
#include <lib/systemlib/px4_macros.h>
#include <math.h>
#include <poll.h>
#ifdef CONFIG_NET
#include <net/if.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#endif
#ifndef __PX4_POSIX
#include <termios.h>
#endif
#include "mavlink_command_sender.h"
#include "mavlink_main.h"
#include "mavlink_receiver.h"
#include <lib/drivers/device/Device.hpp> // For DeviceId union
#ifdef CONFIG_NET
#define MAVLINK_RECEIVER_NET_ADDED_STACK 1360
#else
#define MAVLINK_RECEIVER_NET_ADDED_STACK 0
#endif
MavlinkReceiver::~MavlinkReceiver()
{
delete _tune_publisher;
delete _px4_accel;
delete _px4_gyro;
delete _px4_mag;
#if !defined(CONSTRAINED_FLASH)
delete[] _received_msg_stats;
#endif // !CONSTRAINED_FLASH
}
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
ModuleParams(nullptr),
_mavlink(parent),
_mavlink_ftp(parent),
_mavlink_log_handler(parent),
_mission_manager(parent),
_parameters_manager(parent),
_mavlink_timesync(parent)
{
_handle_sens_flow_maxhgt = param_find("SENS_FLOW_MAXHGT");
_handle_sens_flow_maxr = param_find("SENS_FLOW_MAXR");
_handle_sens_flow_minhgt = param_find("SENS_FLOW_MINHGT");
_handle_sens_flow_rot = param_find("SENS_FLOW_ROT");
_handle_ekf2_min_rng = param_find("EKF2_MIN_RNG");
_handle_ekf2_rng_a_hmax = param_find("EKF2_RNG_A_HMAX");
}
void
MavlinkReceiver::acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, uint8_t result, uint8_t progress)
{
vehicle_command_ack_s command_ack{};
command_ack.timestamp = hrt_absolute_time();
command_ack.command = command;
command_ack.result = result;
command_ack.target_system = sysid;
command_ack.target_component = compid;
command_ack.result_param1 = progress;
_cmd_ack_pub.publish(command_ack);
}
void
MavlinkReceiver::handle_message(mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_COMMAND_LONG:
handle_message_command_long(msg);
break;
case MAVLINK_MSG_ID_COMMAND_INT:
handle_message_command_int(msg);
break;
case MAVLINK_MSG_ID_COMMAND_ACK:
handle_message_command_ack(msg);
break;
case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
handle_message_optical_flow_rad(msg);
break;
case MAVLINK_MSG_ID_PING:
handle_message_ping(msg);
break;
case MAVLINK_MSG_ID_SET_MODE:
handle_message_set_mode(msg);
break;
case MAVLINK_MSG_ID_ATT_POS_MOCAP:
handle_message_att_pos_mocap(msg);
break;
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
handle_message_set_position_target_local_ned(msg);
break;
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
handle_message_set_position_target_global_int(msg);
break;
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
handle_message_set_attitude_target(msg);
break;
case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET:
handle_message_set_actuator_control_target(msg);
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
handle_message_vision_position_estimate(msg);
break;
case MAVLINK_MSG_ID_ODOMETRY:
handle_message_odometry(msg);
break;
case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
handle_message_set_gps_global_origin(msg);
break;
case MAVLINK_MSG_ID_RADIO_STATUS:
handle_message_radio_status(msg);
break;
case MAVLINK_MSG_ID_MANUAL_CONTROL:
handle_message_manual_control(msg);
break;
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
handle_message_rc_channels_override(msg);
break;
case MAVLINK_MSG_ID_HEARTBEAT:
handle_message_heartbeat(msg);
break;
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
handle_message_distance_sensor(msg);
break;
case MAVLINK_MSG_ID_FOLLOW_TARGET:
handle_message_follow_target(msg);
break;
case MAVLINK_MSG_ID_LANDING_TARGET:
handle_message_landing_target(msg);
break;
case MAVLINK_MSG_ID_CELLULAR_STATUS:
handle_message_cellular_status(msg);
break;
case MAVLINK_MSG_ID_ADSB_VEHICLE:
handle_message_adsb_vehicle(msg);
break;
case MAVLINK_MSG_ID_UTM_GLOBAL_POSITION:
handle_message_utm_global_position(msg);
break;
case MAVLINK_MSG_ID_COLLISION:
handle_message_collision(msg);
break;
case MAVLINK_MSG_ID_GPS_RTCM_DATA:
handle_message_gps_rtcm_data(msg);
break;
case MAVLINK_MSG_ID_BATTERY_STATUS:
handle_message_battery_status(msg);
break;
case MAVLINK_MSG_ID_SERIAL_CONTROL:
handle_message_serial_control(msg);
break;
case MAVLINK_MSG_ID_LOGGING_ACK:
handle_message_logging_ack(msg);
break;
case MAVLINK_MSG_ID_PLAY_TUNE:
handle_message_play_tune(msg);
break;
case MAVLINK_MSG_ID_PLAY_TUNE_V2:
handle_message_play_tune_v2(msg);
break;
case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
handle_message_obstacle_distance(msg);
break;
case MAVLINK_MSG_ID_TUNNEL:
handle_message_tunnel(msg);
break;
case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER:
handle_message_trajectory_representation_bezier(msg);
break;
case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS:
handle_message_trajectory_representation_waypoints(msg);
break;
case MAVLINK_MSG_ID_ONBOARD_COMPUTER_STATUS:
handle_message_onboard_computer_status(msg);
break;
case MAVLINK_MSG_ID_GENERATOR_STATUS:
handle_message_generator_status(msg);
break;
case MAVLINK_MSG_ID_STATUSTEXT:
handle_message_statustext(msg);
break;
#if !defined(CONSTRAINED_FLASH)
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
handle_message_named_value_float(msg);
break;
case MAVLINK_MSG_ID_DEBUG:
handle_message_debug(msg);
break;
case MAVLINK_MSG_ID_DEBUG_VECT:
handle_message_debug_vect(msg);
break;
case MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY:
handle_message_debug_float_array(msg);
break;
#endif // !CONSTRAINED_FLASH
case MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE:
handle_message_gimbal_manager_set_attitude(msg);
break;
case MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_MANUAL_CONTROL:
handle_message_gimbal_manager_set_manual_control(msg);
break;
case MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION:
handle_message_gimbal_device_information(msg);
break;
case MAVLINK_MSG_ID_REQUEST_EVENT:
handle_message_request_event(msg);
break;
case MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS:
handle_message_gimbal_device_attitude_status(msg);
break;
default:
break;
}
/*
* Only decode hil messages in HIL mode.
*
* The HIL mode is enabled by the HIL bit flag
* in the system mode. Either send a set mode
* COMMAND_LONG message or a SET_MODE message
*
* Accept HIL GPS messages if use_hil_gps flag is true.
* This allows to provide fake gps measurements to the system.
*/
if (_mavlink->get_hil_enabled()) {
switch (msg->msgid) {
case MAVLINK_MSG_ID_HIL_SENSOR:
handle_message_hil_sensor(msg);
break;
case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
handle_message_hil_state_quaternion(msg);
break;
case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW:
handle_message_hil_optical_flow(msg);
break;
default:
break;
}
}
if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
switch (msg->msgid) {
case MAVLINK_MSG_ID_HIL_GPS:
handle_message_hil_gps(msg);
break;
default:
break;
}
}
/* If we've received a valid message, mark the flag indicating so.
This is used in the '-w' command-line flag. */
_mavlink->set_has_received_messages(true);
}
bool
MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_component)
{
/* evaluate if this system should accept this command */
bool target_ok = false;
switch (command) {
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES:
case MAV_CMD_REQUEST_PROTOCOL_VERSION:
/* broadcast and ignore component */
target_ok = (target_system == 0) || (target_system == mavlink_system.sysid);
break;
default:
target_ok = (target_system == mavlink_system.sysid) && ((target_component == mavlink_system.compid)
|| (target_component == MAV_COMP_ID_ALL));
break;
}
return target_ok;
}
void
MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
{
/* command */
mavlink_command_long_t cmd_mavlink;
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
const float before_int32_max = nextafterf((float)INT32_MAX, 0.0f);
const float after_int32_max = nextafterf((float)INT32_MAX, (float)INFINITY);
if (cmd_mavlink.param5 >= before_int32_max && cmd_mavlink.param5 <= after_int32_max &&
cmd_mavlink.param6 >= before_int32_max && cmd_mavlink.param6 <= after_int32_max) {
// This looks suspicously like INT32_MAX was sent in a COMMAND_LONG instead of
// a COMMAND_INT.
PX4_ERR("param5/param6 invalid of command %" PRIu16, cmd_mavlink.command);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_DENIED);
return;
}
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
vcmd.param2 = cmd_mavlink.param2;
vcmd.param3 = cmd_mavlink.param3;
vcmd.param4 = cmd_mavlink.param4;
vcmd.param5 = (double)cmd_mavlink.param5;
vcmd.param6 = (double)cmd_mavlink.param6;
vcmd.param7 = cmd_mavlink.param7;
vcmd.command = cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = cmd_mavlink.confirmation;
vcmd.from_external = true;
handle_message_command_both(msg, cmd_mavlink, vcmd);
}
void
MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
{
/* command */
mavlink_command_int_t cmd_mavlink;
mavlink_msg_command_int_decode(msg, &cmd_mavlink);
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
if (cmd_mavlink.x == 0x7ff80000 && cmd_mavlink.y == 0x7ff80000) {
// This looks like NAN was by accident sent as int.
PX4_ERR("x/y invalid of command %" PRIu16, cmd_mavlink.command);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_DENIED);
return;
}
/* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
vcmd.param2 = cmd_mavlink.param2;
vcmd.param3 = cmd_mavlink.param3;
vcmd.param4 = cmd_mavlink.param4;
if (cmd_mavlink.x == INT32_MAX && cmd_mavlink.y == INT32_MAX) {
// INT32_MAX for x and y means to ignore it.
vcmd.param5 = (double)NAN;
vcmd.param6 = (double)NAN;
} else {
vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
}
vcmd.param7 = cmd_mavlink.z;
vcmd.command = cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = false;
vcmd.from_external = true;
handle_message_command_both(msg, cmd_mavlink, vcmd);
}
template <class T>
void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const T &cmd_mavlink,
const vehicle_command_s &vehicle_command)
{
bool target_ok = evaluate_target_ok(cmd_mavlink.command, cmd_mavlink.target_system, cmd_mavlink.target_component);
bool send_ack = true;
uint8_t result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
uint8_t progress = 0; // TODO: should be 255, 0 for backwards compatibility
if (!target_ok) {
// Reject alien commands only if there is no forwarding or we've never seen target component before
if (!_mavlink->get_forwarding_on()
|| !_mavlink->component_was_seen(cmd_mavlink.target_system, cmd_mavlink.target_component, _mavlink)) {
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_FAILED);
}
return;
}
// First we handle legacy support requests which were used before we had
// the generic MAV_CMD_REQUEST_MESSAGE.
if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
result = handle_request_message_command(MAVLINK_MSG_ID_AUTOPILOT_VERSION);
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_PROTOCOL_VERSION) {
result = handle_request_message_command(MAVLINK_MSG_ID_PROTOCOL_VERSION);
} else if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) {
result = handle_request_message_command(MAVLINK_MSG_ID_HOME_POSITION);
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_FLIGHT_INFORMATION) {
result = handle_request_message_command(MAVLINK_MSG_ID_FLIGHT_INFORMATION);
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_STORAGE_INFORMATION) {
result = handle_request_message_command(MAVLINK_MSG_ID_STORAGE_INFORMATION);
} else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
if (set_message_interval((int)roundf(cmd_mavlink.param1), cmd_mavlink.param2, cmd_mavlink.param3)) {
result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
}
} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
get_message_interval((int)roundf(cmd_mavlink.param1));
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_MESSAGE) {
uint16_t message_id = (uint16_t)roundf(vehicle_command.param1);
result = handle_request_message_command(message_id,
vehicle_command.param2, vehicle_command.param3, vehicle_command.param4,
vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
} else if (cmd_mavlink.command == MAV_CMD_SET_CAMERA_ZOOM) {
struct actuator_controls_s actuator_controls = {};
actuator_controls.timestamp = hrt_absolute_time();
for (size_t i = 0; i < 8; i++) {
actuator_controls.control[i] = NAN;
}
switch ((int)(cmd_mavlink.param1 + 0.5f)) {
case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_RANGE:
actuator_controls.control[actuator_controls_s::INDEX_CAMERA_ZOOM] = cmd_mavlink.param2 / 50.0f - 1.0f;
break;
case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_STEP:
case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS:
case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH:
default:
send_ack = false;
}
_actuator_controls_pubs[actuator_controls_s::GROUP_INDEX_GIMBAL].publish(actuator_controls);
} else if (cmd_mavlink.command == MAV_CMD_INJECT_FAILURE) {
if (_mavlink->failure_injection_enabled()) {
_cmd_pub.publish(vehicle_command);
send_ack = false;
} else {
result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
send_ack = true;
}
} else if (cmd_mavlink.command == MAV_CMD_DO_SET_ACTUATOR) {
// since we're only paying attention to 3 AUX outputs, the
// index should be 0, otherwise ignore the message
if (((int) vehicle_command.param7) == 0) {
actuator_controls_s actuator_controls{};
// update with existing values to avoid changing unspecified controls
_actuator_controls_3_sub.update(&actuator_controls);
actuator_controls.timestamp = hrt_absolute_time();
bool updated = false;
if (PX4_ISFINITE(vehicle_command.param1)) {
actuator_controls.control[5] = vehicle_command.param1;
updated = true;
}
if (PX4_ISFINITE(vehicle_command.param2)) {
actuator_controls.control[6] = vehicle_command.param2;
updated = true;
}
if (PX4_ISFINITE(vehicle_command.param3)) {
actuator_controls.control[7] = vehicle_command.param3;
updated = true;
}
if (updated) {
_actuator_controls_pubs[3].publish(actuator_controls);
}
}
_cmd_pub.publish(vehicle_command);
} else if (cmd_mavlink.command == MAV_CMD_DO_AUTOTUNE_ENABLE) {
bool has_module = true;
autotune_attitude_control_status_s status{};
_autotune_attitude_control_status_sub.copy(&status);
// if not busy enable via the parameter
// do not check the return value of the uORB copy above because the module
// starts publishing only when MC_AT_START is set
if (status.state == autotune_attitude_control_status_s::STATE_IDLE) {
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
if (!vehicle_status.in_transition_mode) {
param_t atune_start;
switch (vehicle_status.vehicle_type) {
case vehicle_status_s::VEHICLE_TYPE_FIXED_WING:
atune_start = param_find("FW_AT_START");
break;
case vehicle_status_s::VEHICLE_TYPE_ROTARY_WING:
atune_start = param_find("MC_AT_START");
break;
default:
atune_start = PARAM_INVALID;
break;
}
if (atune_start == PARAM_INVALID) {
has_module = false;
} else {
int32_t start = 1;
param_set(atune_start, &start);
}
} else {
has_module = false;
}
}
if (has_module) {
// most are in progress
result = vehicle_command_ack_s::VEHICLE_RESULT_IN_PROGRESS;
switch (status.state) {
case autotune_attitude_control_status_s::STATE_IDLE:
case autotune_attitude_control_status_s::STATE_INIT:
progress = 0;
break;
case autotune_attitude_control_status_s::STATE_ROLL:
case autotune_attitude_control_status_s::STATE_ROLL_PAUSE:
progress = 20;
break;
case autotune_attitude_control_status_s::STATE_PITCH:
case autotune_attitude_control_status_s::STATE_PITCH_PAUSE:
progress = 40;
break;
case autotune_attitude_control_status_s::STATE_YAW:
case autotune_attitude_control_status_s::STATE_YAW_PAUSE:
progress = 60;
break;
case autotune_attitude_control_status_s::STATE_VERIFICATION:
progress = 80;
break;
case autotune_attitude_control_status_s::STATE_APPLY:
progress = 85;
break;
case autotune_attitude_control_status_s::STATE_TEST:
progress = 90;
break;
case autotune_attitude_control_status_s::STATE_WAIT_FOR_DISARM:
progress = 95;
break;
case autotune_attitude_control_status_s::STATE_COMPLETE:
progress = 100;
// ack it properly with an ACCEPTED once we're done
result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
break;
case autotune_attitude_control_status_s::STATE_FAIL:
progress = 0;
result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
break;
}
} else {
result = vehicle_command_ack_s::VEHICLE_RESULT_UNSUPPORTED;
}
send_ack = true;
} else {
send_ack = false;
if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
PX4_WARN("ignoring CMD with same SYS/COMP (%" PRIu8 "/%" PRIu8 ") ID", mavlink_system.sysid, mavlink_system.compid);
return;
}
if (cmd_mavlink.command == MAV_CMD_LOGGING_START) {
// check that we have enough bandwidth available: this is given by the configured logger topics
// and rates. The 5000 is somewhat arbitrary, but makes sure that we cannot enable log streaming
// on a radio link
if (_mavlink->get_data_rate() < 5000) {
send_ack = true;
result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
_mavlink->send_statustext_critical("Not enough bandwidth to enable log streaming\t");
events::send<uint32_t>(events::ID("mavlink_log_not_enough_bw"), events::Log::Error,
"Not enough bandwidth to enable log streaming ({1} \\< 5000)", _mavlink->get_data_rate());
} else {
// we already instanciate the streaming object, because at this point we know on which
// mavlink channel streaming was requested. But in fact it's possible that the logger is
// not even running. The main mavlink thread takes care of this by waiting for an ack
// from the logger.
_mavlink->try_start_ulog_streaming(msg->sysid, msg->compid);
}
}
if (!send_ack) {
_cmd_pub.publish(vehicle_command);
}
}
if (send_ack) {
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, result, progress);
}
}
uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, float param2, float param3, float param4,
float param5, float param6, float param7)
{
bool stream_found = false;
bool message_sent = false;
for (const auto &stream : _mavlink->get_streams()) {
if (stream->get_id() == message_id) {
stream_found = true;
message_sent = stream->request_message(param2, param3, param4, param5, param6, param7);
break;
}
}
if (!stream_found) {
// If we don't find the stream, we can configure it with rate 0 and then trigger it once.
const char *stream_name = get_stream_name(message_id);
if (stream_name != nullptr) {
_mavlink->configure_stream_threadsafe(stream_name, 0.0f);
// Now we try again to send it.
for (const auto &stream : _mavlink->get_streams()) {
if (stream->get_id() == message_id) {
message_sent = stream->request_message(param2, param3, param4, param5, param6, param7);
break;
}
}
}
}
return (message_sent ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_DENIED);
}
void
MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
{
mavlink_command_ack_t ack;
mavlink_msg_command_ack_decode(msg, &ack);
MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid, _mavlink->get_channel());
vehicle_command_ack_s command_ack{};
command_ack.timestamp = hrt_absolute_time();
command_ack.result_param2 = ack.result_param2;
command_ack.command = ack.command;
command_ack.result = ack.result;
command_ack.from_external = true;
command_ack.result_param1 = ack.progress;
command_ack.target_system = ack.target_system;
command_ack.target_component = ack.target_component;
_cmd_ack_pub.publish(command_ack);
// TODO: move it to the same place that sent the command
if (ack.result == MAV_RESULT_FAILED) {
if (msg->compid == MAV_COMP_ID_CAMERA) {
PX4_WARN("Got unsuccessful result %" PRIu8 " from camera", ack.result);
}
}
}
void
MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
{
/* optical flow */
mavlink_optical_flow_rad_t flow;
mavlink_msg_optical_flow_rad_decode(msg, &flow);
optical_flow_s f{};
f.timestamp = hrt_absolute_time();
f.time_since_last_sonar_update = flow.time_delta_distance_us;
f.integration_timespan = flow.integration_time_us;
f.pixel_flow_x_integral = flow.integrated_x;
f.pixel_flow_y_integral = flow.integrated_y;
f.gyro_x_rate_integral = flow.integrated_xgyro;
f.gyro_y_rate_integral = flow.integrated_ygyro;
f.gyro_z_rate_integral = flow.integrated_zgyro;
f.gyro_temperature = flow.temperature;
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.max_flow_rate = _param_sens_flow_maxr;
f.min_ground_distance = _param_sens_flow_minhgt;
f.max_ground_distance = _param_sens_flow_maxhgt;
/* read flow sensor parameters */
const Rotation flow_rot = (Rotation)_param_sens_flow_rot;
/* rotate measurements according to parameter */
float zero_val = 0.0f;
rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zero_val);
rotate_3f(flow_rot, f.gyro_x_rate_integral, f.gyro_y_rate_integral, f.gyro_z_rate_integral);
_flow_pub.publish(f);
/* Use distance value for distance sensor topic */
if (flow.distance > 0.0f) { // negative values signal invalid data
distance_sensor_s d{};
device::Device::DeviceId device_id;
device_id.devid_s.bus = device::Device::DeviceBusType::DeviceBusType_MAVLINK;
device_id.devid_s.devtype = DRV_DIST_DEVTYPE_MAVLINK;
device_id.devid_s.address = msg->sysid;
d.timestamp = f.timestamp;
d.min_distance = _param_ekf2_min_rng;
d.max_distance = _param_ekf2_rng_a_hmax;
d.current_distance = flow.distance; /* both are in m */
d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
d.device_id = device_id.devid;
d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
d.variance = 0.01;
d.signal_quality = -1;
_flow_distance_sensor_pub.publish(d);
}
}
void
MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
{
/* optical flow */
mavlink_hil_optical_flow_t flow;
mavlink_msg_hil_optical_flow_decode(msg, &flow);
optical_flow_s f{};
f.timestamp = hrt_absolute_time(); // XXX we rely on the system time for now and not flow.time_usec;
f.integration_timespan = flow.integration_time_us;
f.pixel_flow_x_integral = flow.integrated_x;
f.pixel_flow_y_integral = flow.integrated_y;
f.gyro_x_rate_integral = flow.integrated_xgyro;
f.gyro_y_rate_integral = flow.integrated_ygyro;
f.gyro_z_rate_integral = flow.integrated_zgyro;
f.time_since_last_sonar_update = flow.time_delta_distance_us;
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
_flow_pub.publish(f);
/* Use distance value for distance sensor topic */
distance_sensor_s d{};
device::Device::DeviceId device_id;
device_id.devid_s.bus = device::Device::DeviceBusType::DeviceBusType_MAVLINK;
device_id.devid_s.devtype = DRV_DIST_DEVTYPE_MAVLINK;
device_id.devid_s.address = msg->sysid;
d.timestamp = hrt_absolute_time();
d.min_distance = 0.3f;
d.max_distance = 5.0f;
d.current_distance = flow.distance; /* both are in m */
d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
d.device_id = device_id.devid;
d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
d.variance = 0.01;
d.signal_quality = -1;
_flow_distance_sensor_pub.publish(d);
}
void
MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
{
mavlink_set_mode_t new_mode;
mavlink_msg_set_mode_decode(msg, &new_mode);
union px4_custom_mode custom_mode;
custom_mode.data = new_mode.custom_mode;
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
/* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = (float)new_mode.base_mode;
vcmd.param2 = (float)custom_mode.main_mode;
vcmd.param3 = (float)custom_mode.sub_mode;
vcmd.command = vehicle_command_s::VEHICLE_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 = true;
vcmd.from_external = true;
_cmd_pub.publish(vcmd);
}
void
MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg)
{
mavlink_distance_sensor_t dist_sensor;
mavlink_msg_distance_sensor_decode(msg, &dist_sensor);
distance_sensor_s ds{};
device::Device::DeviceId device_id;
device_id.devid_s.bus = device::Device::DeviceBusType::DeviceBusType_MAVLINK;
device_id.devid_s.devtype = DRV_DIST_DEVTYPE_MAVLINK;
device_id.devid_s.address = dist_sensor.id;
ds.timestamp = hrt_absolute_time(); /* Use system time for now, don't trust sender to attach correct timestamp */
ds.min_distance = static_cast<float>(dist_sensor.min_distance) * 1e-2f; /* cm to m */
ds.max_distance = static_cast<float>(dist_sensor.max_distance) * 1e-2f; /* cm to m */
ds.current_distance = static_cast<float>(dist_sensor.current_distance) * 1e-2f; /* cm to m */
ds.variance = dist_sensor.covariance * 1e-4f; /* cm^2 to m^2 */
ds.h_fov = dist_sensor.horizontal_fov;
ds.v_fov = dist_sensor.vertical_fov;
ds.q[0] = dist_sensor.quaternion[0];
ds.q[1] = dist_sensor.quaternion[1];
ds.q[2] = dist_sensor.quaternion[2];
ds.q[3] = dist_sensor.quaternion[3];
ds.type = dist_sensor.type;
ds.device_id = device_id.devid;
ds.orientation = dist_sensor.orientation;
// MAVLink DISTANCE_SENSOR signal_quality value of 0 means unset/unknown
// quality value. Also it comes normalised between 1 and 100 while the uORB
// signal quality is normalised between 0 and 100.
ds.signal_quality = dist_sensor.signal_quality == 0 ? -1 : 100 * (dist_sensor.signal_quality - 1) / 99;
_distance_sensor_pub.publish(ds);
}
void
MavlinkReceiver::handle_message_att_pos_mocap(mavlink_message_t *msg)
{
mavlink_att_pos_mocap_t mocap;
mavlink_msg_att_pos_mocap_decode(msg, &mocap);
vehicle_odometry_s mocap_odom{};
mocap_odom.timestamp = hrt_absolute_time();
mocap_odom.timestamp_sample = _mavlink_timesync.sync_stamp(mocap.time_usec);
mocap_odom.x = mocap.x;
mocap_odom.y = mocap.y;
mocap_odom.z = mocap.z;
mocap_odom.q[0] = mocap.q[0];
mocap_odom.q[1] = mocap.q[1];
mocap_odom.q[2] = mocap.q[2];
mocap_odom.q[3] = mocap.q[3];
const size_t URT_SIZE = sizeof(mocap_odom.pose_covariance) / sizeof(mocap_odom.pose_covariance[0]);
static_assert(URT_SIZE == (sizeof(mocap.covariance) / sizeof(mocap.covariance[0])),
"Odometry Pose Covariance matrix URT array size mismatch");
for (size_t i = 0; i < URT_SIZE; i++) {
mocap_odom.pose_covariance[i] = mocap.covariance[i];
}
mocap_odom.velocity_frame = vehicle_odometry_s::LOCAL_FRAME_FRD;
mocap_odom.vx = NAN;
mocap_odom.vy = NAN;
mocap_odom.vz = NAN;
mocap_odom.rollspeed = NAN;
mocap_odom.pitchspeed = NAN;
mocap_odom.yawspeed = NAN;
mocap_odom.velocity_covariance[0] = NAN;
_mocap_odometry_pub.publish(mocap_odom);