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@LorenzMeier @dagar @julianoes @DrTon @thomasgubler @bkueng @mhkabir @TSC21 @Jaeyoung-Lim @mcsauder @mcharleb @RomanBapst
/****************************************************************************
*
* 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
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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****************************************************************************/
/**
* @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_baro;
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");
}
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:
handle_message_rc_channels(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_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;
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);
}
}
} 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"); */
atune_start = PARAM_INVALID;
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_ACCEPTED && ack.result != MAV_RESULT_IN_PROGRESS) {
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 = 0.3f;
d.max_distance = 5.0f;
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 = 0.0;
_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 = 0.0;
_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);
}
void
MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t *msg)
{
mavlink_set_position_target_local_ned_t target_local_ned;
mavlink_msg_set_position_target_local_ned_decode(msg, &target_local_ned);
/* Only accept messages which are intended for this system */
if (_mavlink->get_forward_externalsp() &&
(mavlink_system.sysid == target_local_ned.target_system || target_local_ned.target_system == 0) &&
(mavlink_system.compid == target_local_ned.target_component || target_local_ned.target_component == 0)) {
vehicle_local_position_setpoint_s setpoint{};
const uint16_t type_mask = target_local_ned.type_mask;
if (target_local_ned.coordinate_frame == MAV_FRAME_LOCAL_NED) {
setpoint.x = (type_mask & POSITION_TARGET_TYPEMASK_X_IGNORE) ? (float)NAN : target_local_ned.x;
setpoint.y = (type_mask & POSITION_TARGET_TYPEMASK_Y_IGNORE) ? (float)NAN : target_local_ned.y;
setpoint.z = (type_mask & POSITION_TARGET_TYPEMASK_Z_IGNORE) ? (float)NAN : target_local_ned.z;
setpoint.vx = (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? (float)NAN : target_local_ned.vx;
setpoint.vy = (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? (float)NAN : target_local_ned.vy;
setpoint.vz = (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? (float)NAN : target_local_ned.vz;
setpoint.acceleration[0] = (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? (float)NAN : target_local_ned.afx;
setpoint.acceleration[1] = (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? (float)NAN : target_local_ned.afy;
setpoint.acceleration[2] = (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? (float)NAN : target_local_ned.afz;
} else if (target_local_ned.coordinate_frame == MAV_FRAME_BODY_NED) {
vehicle_attitude_s vehicle_attitude{};
_vehicle_attitude_sub.copy(&vehicle_attitude);
const matrix::Dcmf R{matrix::Quatf{vehicle_attitude.q}};
const bool ignore_velocity = type_mask & (POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE |
POSITION_TARGET_TYPEMASK_VZ_IGNORE);
if (!ignore_velocity) {
const matrix::Vector3f velocity_body_sp{
(type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? 0.f : target_local_ned.vx,
(type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? 0.f : target_local_ned.vy,
(type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? 0.f : target_local_ned.vz
};
const float yaw = matrix::Eulerf{R}(2);
setpoint.vx = cosf(yaw) * velocity_body_sp(0) - sinf(yaw) * velocity_body_sp(1);
setpoint.vy = sinf(yaw) * velocity_body_sp(0) + cosf(yaw) * velocity_body_sp(1);
setpoint.vz = velocity_body_sp(2);
} else {
setpoint.vx = NAN;
setpoint.vy = NAN;
setpoint.vz = NAN;
}
const bool ignore_acceleration = type_mask & (POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE |
POSITION_TARGET_TYPEMASK_AZ_IGNORE);
if (!ignore_acceleration) {
const matrix::Vector3f acceleration_body_sp{
(type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? 0.f : target_local_ned.afx,
(type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? 0.f : target_local_ned.afy,
(type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? 0.f : target_local_ned.afz
};
const matrix::Vector3f acceleration_setpoint{R * acceleration_body_sp};
acceleration_setpoint.copyTo(setpoint.acceleration);
} else {
setpoint.acceleration[0] = NAN;
setpoint.acceleration[1] = NAN;
setpoint.acceleration[2] = NAN;
}
setpoint.x = NAN;
setpoint.y = NAN;
setpoint.z = NAN;
} else {
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED coordinate frame %" PRIu8 " unsupported\t",
target_local_ned.coordinate_frame);
events::send<uint8_t>(events::ID("mavlink_rcv_sp_target_unsup_coord"), events::Log::Error,
"SET_POSITION_TARGET_LOCAL_NED: coordinate frame {1} unsupported", target_local_ned.coordinate_frame);
return;
}
setpoint.thrust[0] = NAN;
setpoint.thrust[1] = NAN;
setpoint.thrust[2] = NAN;
setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? (float)NAN : target_local_ned.yaw;
setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? (float)NAN : target_local_ned.yaw_rate;
offboard_control_mode_s ocm{};
ocm.position = PX4_ISFINITE(setpoint.x) || PX4_ISFINITE(setpoint.y) || PX4_ISFINITE(setpoint.z);
ocm.velocity = PX4_ISFINITE(setpoint.vx) || PX4_ISFINITE(setpoint.vy) || PX4_ISFINITE(setpoint.vz);
ocm.acceleration = PX4_ISFINITE(setpoint.acceleration[0]) || PX4_ISFINITE(setpoint.acceleration[1])
|| PX4_ISFINITE(setpoint.acceleration[2]);
if (ocm.acceleration && (type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET)) {
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED force not supported\t");
events::send(events::ID("mavlink_rcv_sp_target_unsup_force"), events::Log::Error,
"SET_POSITION_TARGET_LOCAL_NED: FORCE is not supported");
return;
}
if (ocm.position || ocm.velocity || ocm.acceleration) {
// publish offboard_control_mode
ocm.timestamp = hrt_absolute_time();
_offboard_control_mode_pub.publish(ocm);
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) {
// only publish setpoint once in OFFBOARD
setpoint.timestamp = hrt_absolute_time();
_trajectory_setpoint_pub.publish(setpoint);
}
} else {
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED invalid\t");
events::send(events::ID("mavlink_rcv_sp_target_invalid"), events::Log::Error,
"SET_POSITION_TARGET_LOCAL_NED: invalid, missing position, velocity or acceleration");
}
}
}
void
MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t *msg)
{
mavlink_set_position_target_global_int_t target_global_int;
mavlink_msg_set_position_target_global_int_decode(msg, &target_global_int);
/* Only accept messages which are intended for this system */
if (_mavlink->get_forward_externalsp() &&
(mavlink_system.sysid == target_global_int.target_system || target_global_int.target_system == 0) &&
(mavlink_system.compid == target_global_int.target_component || target_global_int.target_component == 0)) {
vehicle_local_position_setpoint_s setpoint{};
const uint16_t type_mask = target_global_int.type_mask;
// position
if (!(type_mask & (POSITION_TARGET_TYPEMASK_X_IGNORE | POSITION_TARGET_TYPEMASK_Y_IGNORE |
POSITION_TARGET_TYPEMASK_Z_IGNORE))) {
vehicle_local_position_s local_pos{};
_vehicle_local_position_sub.copy(&local_pos);
if (!local_pos.xy_global || !local_pos.z_global) {
return;
}
map_projection_reference_s global_local_proj_ref{};
map_projection_init_timestamped(&global_local_proj_ref, local_pos.ref_lat, local_pos.ref_lon, local_pos.ref_timestamp);
// global -> local
const double lat = target_global_int.lat_int / 1e7;
const double lon = target_global_int.lon_int / 1e7;
map_projection_project(&global_local_proj_ref, lat, lon, &setpoint.x, &setpoint.y);
if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_INT) {
setpoint.z = local_pos.ref_alt - target_global_int.alt;
} else if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
home_position_s home_position{};
_home_position_sub.copy(&home_position);
if (home_position.valid_alt) {
const float alt = home_position.alt - target_global_int.alt;
setpoint.z = alt - local_pos.ref_alt;
} else {
// home altitude required
return;
}
} else if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
vehicle_global_position_s vehicle_global_position{};
_vehicle_global_position_sub.copy(&vehicle_global_position);
if (vehicle_global_position.terrain_alt_valid) {
const float alt = target_global_int.alt + vehicle_global_position.terrain_alt;
setpoint.z = local_pos.ref_alt - alt;
} else {
// valid terrain alt required
return;
}
} else {
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame %" PRIu8 "\t",
target_global_int.coordinate_frame);
events::send<uint8_t>(events::ID("mavlink_rcv_sp_target_gl_invalid_coord"), events::Log::Error,
"SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame {1}", target_global_int.coordinate_frame);
return;
}
} else {
setpoint.x = NAN;
setpoint.y = NAN;
setpoint.z = NAN;
}
// velocity
setpoint.vx = (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? (float)NAN : target_global_int.vx;
setpoint.vy = (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? (float)NAN : target_global_int.vy;
setpoint.vz = (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? (float)NAN : target_global_int.vz;
// acceleration
setpoint.acceleration[0] = (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? (float)NAN : target_global_int.afx;
setpoint.acceleration[1] = (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? (float)NAN : target_global_int.afy;
setpoint.acceleration[2] = (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? (float)NAN : target_global_int.afz;
setpoint.thrust[0] = NAN;
setpoint.thrust[1] = NAN;
setpoint.thrust[2] = NAN;
setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? (float)NAN : target_global_int.yaw;
setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? (float)NAN : target_global_int.yaw_rate;
offboard_control_mode_s ocm{};
ocm.position = PX4_ISFINITE(setpoint.x) || PX4_ISFINITE(setpoint.y) || PX4_ISFINITE(setpoint.z);
ocm.velocity = PX4_ISFINITE(setpoint.vx) || PX4_ISFINITE(setpoint.vy) || PX4_ISFINITE(setpoint.vz);
ocm.acceleration = PX4_ISFINITE(setpoint.acceleration[0]) || PX4_ISFINITE(setpoint.acceleration[1])
|| PX4_ISFINITE(setpoint.acceleration[2]);
if (ocm.acceleration && (type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET)) {
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_GLOBAL_INT force not supported\t");
events::send(events::ID("mavlink_rcv_sp_target_gl_unsup_force"), events::Log::Error,
"SET_POSITION_TARGET_GLOBAL_INT: FORCE is not supported");
return;
}
if (ocm.position || ocm.velocity || ocm.acceleration) {
// publish offboard_control_mode
ocm.timestamp = hrt_absolute_time();
_offboard_control_mode_pub.publish(ocm);
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) {
// only publish setpoint once in OFFBOARD
setpoint.timestamp = hrt_absolute_time();
_trajectory_setpoint_pub.publish(setpoint);
}
}
}
}
void
MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *msg)
{
// TODO
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
PX4_ERR("SET_ACTUATOR_CONTROL_TARGET not supported with lockstep enabled");
PX4_ERR("Please disable lockstep for actuator offboard control:");
PX4_ERR("https://dev.px4.io/master/en/simulation/#disable-lockstep-simulation");
return;
#endif
mavlink_set_actuator_control_target_t actuator_target;
mavlink_msg_set_actuator_control_target_decode(msg, &actuator_target);
if (_mavlink->get_forward_externalsp() &&
(mavlink_system.sysid == actuator_target.target_system || actuator_target.target_system == 0) &&
(mavlink_system.compid == actuator_target.target_component || actuator_target.target_component == 0)
) {
/* Ignore all setpoints except when controlling the gimbal(group_mlx==2) as we are setting raw actuators here */
//bool ignore_setpoints = bool(actuator_target.group_mlx != 2);
offboard_control_mode_s offboard_control_mode{};
offboard_control_mode.timestamp = hrt_absolute_time();
_offboard_control_mode_pub.publish(offboard_control_mode);
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
// Publish actuator controls only once in OFFBOARD
if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) {
actuator_controls_s actuator_controls{};
actuator_controls.timestamp = hrt_absolute_time();
/* Set duty cycles for the servos in the actuator_controls message */
for (size_t i = 0; i < 8; i++) {
actuator_controls.control[i] = actuator_target.controls[i];
}
switch (actuator_target.group_mlx) {
case 0:
_actuator_controls_pubs[0].publish(actuator_controls);
break;
case 1:
_actuator_controls_pubs[1].publish(actuator_controls);
break;
case 2:
_actuator_controls_pubs[2].publish(actuator_controls);
break;
case 3:
_actuator_controls_pubs[3].publish(actuator_controls);
break;
default:
break;
}
}
}
}
void
MavlinkReceiver::handle_message_set_gps_global_origin(mavlink_message_t *msg)
{
mavlink_set_gps_global_origin_t gps_global_origin;
mavlink_msg_set_gps_global_origin_decode(msg, &gps_global_origin);
if (gps_global_origin.target_system == _mavlink->get_system_id()) {
vehicle_command_s vcmd{};
vcmd.param5 = (double)gps_global_origin.latitude * 1.e-7;
vcmd.param6 = (double)gps_global_origin.longitude * 1.e-7;
vcmd.param7 = (float)gps_global_origin.altitude * 1.e-3f;
vcmd.command = vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN;
vcmd.target_system = _mavlink->get_system_id();
vcmd.target_component = MAV_COMP_ID_ALL;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = false;
vcmd.from_external = true;
vcmd.timestamp = hrt_absolute_time();
_cmd_pub.publish(vcmd);
}
handle_request_message_command(MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN);
}
void
MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
{
mavlink_vision_position_estimate_t ev;
mavlink_msg_vision_position_estimate_decode(msg, &ev);
vehicle_odometry_s visual_odom{};
visual_odom.timestamp = hrt_absolute_time();
visual_odom.timestamp_sample = _mavlink_timesync.sync_stamp(ev.usec);
visual_odom.x = ev.x;
visual_odom.y = ev.y;
visual_odom.z = ev.z;
matrix::Quatf q(matrix::Eulerf(ev.roll, ev.pitch, ev.yaw));
q.copyTo(visual_odom.q);
visual_odom.local_frame = vehicle_odometry_s::LOCAL_FRAME_NED;
const size_t URT_SIZE = sizeof(visual_odom.pose_covariance) / sizeof(visual_odom.pose_covariance[0]);
static_assert(URT_SIZE == (sizeof(ev.covariance) / sizeof(ev.covariance[0])),
"Odometry Pose Covariance matrix URT array size mismatch");
for (size_t i = 0; i < URT_SIZE; i++) {
visual_odom.pose_covariance[i] = ev.covariance[i];
}
visual_odom.velocity_frame = vehicle_odometry_s::LOCAL_FRAME_FRD;
visual_odom.vx = NAN;
visual_odom.vy = NAN;
visual_odom.vz = NAN;
visual_odom.rollspeed = NAN;
visual_odom.pitchspeed = NAN;
visual_odom.yawspeed = NAN;
visual_odom.velocity_covariance[0] = NAN;
_visual_odometry_pub.publish(visual_odom);
}
void
MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
{
mavlink_odometry_t odom;
mavlink_msg_odometry_decode(msg, &odom);
vehicle_odometry_s odometry{};
odometry.timestamp = hrt_absolute_time();
odometry.timestamp_sample = _mavlink_timesync.sync_stamp(odom.time_usec);
/* The position is in a local FRD frame */
odometry.x = odom.x;
odometry.y = odom.y;
odometry.z = odom.z;
/**
* The quaternion of the ODOMETRY msg represents a rotation from body frame
* to a local frame
*/
matrix::Quatf q_body_to_local(odom.q);
q_body_to_local.normalize();
q_body_to_local.copyTo(odometry.q);
// pose_covariance
static constexpr size_t POS_URT_SIZE = sizeof(odometry.pose_covariance) / sizeof(odometry.pose_covariance[0]);
static_assert(POS_URT_SIZE == (sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0])),
"Odometry Pose Covariance matrix URT array size mismatch");
// velocity_covariance
static constexpr size_t VEL_URT_SIZE = sizeof(odometry.velocity_covariance) / sizeof(odometry.velocity_covariance[0]);
static_assert(VEL_URT_SIZE == (sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0])),
"Odometry Velocity Covariance matrix URT array size mismatch");
// TODO: create a method to simplify covariance copy
for (size_t i = 0; i < POS_URT_SIZE; i++) {
odometry.pose_covariance[i] = odom.pose_covariance[i];
}
/**
* PX4 expects the body's linear velocity in the local frame,
* the linear velocity is rotated from the odom child_frame to the
* local NED frame. The angular velocity needs to be expressed in the
* body (fcu_frd) frame.
*/
if (odom.child_frame_id == MAV_FRAME_BODY_FRD) {
odometry.velocity_frame = vehicle_odometry_s::BODY_FRAME_FRD;
odometry.vx = odom.vx;
odometry.vy = odom.vy;
odometry.vz = odom.vz;
odometry.rollspeed = odom.rollspeed;
odometry.pitchspeed = odom.pitchspeed;
odometry.yawspeed = odom.yawspeed;
for (size_t i = 0; i < VEL_URT_SIZE; i++) {
odometry.velocity_covariance[i] = odom.velocity_covariance[i];
}
} else {
PX4_ERR("Body frame %" PRIu8 " not supported. Unable to publish velocity", odom.child_frame_id);
}
/**
* Supported local frame of reference is MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_FRD
* The supported sources of the data/tesimator type are MAV_ESTIMATOR_TYPE_VISION,
* MAV_ESTIMATOR_TYPE_VIO and MAV_ESTIMATOR_TYPE_MOCAP
*
* @note Regarding the local frames of reference, the appropriate EKF_AID_MASK
* should be set in order to match a frame aligned (NED) or not aligned (FRD)
* with true North
*/
if (odom.frame_id == MAV_FRAME_LOCAL_NED || odom.frame_id == MAV_FRAME_LOCAL_FRD) {
if (odom.frame_id == MAV_FRAME_LOCAL_NED) {
odometry.local_frame = vehicle_odometry_s::LOCAL_FRAME_NED;
} else {
odometry.local_frame = vehicle_odometry_s::LOCAL_FRAME_FRD;
}
if ((odom.estimator_type == MAV_ESTIMATOR_TYPE_VISION)
|| (odom.estimator_type == MAV_ESTIMATOR_TYPE_VIO)
|| (odom.estimator_type == MAV_ESTIMATOR_TYPE_UNKNOWN)) {
// accept MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support
_visual_odometry_pub.publish(odometry);
} else if (odom.estimator_type == MAV_ESTIMATOR_TYPE_MOCAP) {
_mocap_odometry_pub.publish(odometry);
} else {
PX4_ERR("Estimator source %" PRIu8 " not supported. Unable to publish pose and velocity", odom.estimator_type);
}
} else {
PX4_ERR("Local frame %" PRIu8 " not supported. Unable to publish pose and velocity", odom.frame_id);
}
}
void MavlinkReceiver::fill_thrust(float *thrust_body_array, uint8_t vehicle_type, float thrust)
{
// Fill correct field by checking frametype
// TODO: add as needed
switch (_mavlink->get_system_type()) {
case MAV_TYPE_GENERIC:
break;
case MAV_TYPE_FIXED_WING:
case MAV_TYPE_GROUND_ROVER:
thrust_body_array[0] = thrust;
break;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_HEXAROTOR:
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_HELICOPTER:
case MAV_TYPE_COAXIAL:
thrust_body_array[2] = -thrust;
break;
case MAV_TYPE_SUBMARINE:
thrust_body_array[0] = thrust;
break;
case MAV_TYPE_VTOL_DUOROTOR:
case MAV_TYPE_VTOL_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR:
case MAV_TYPE_VTOL_RESERVED2:
case MAV_TYPE_VTOL_RESERVED3:
case MAV_TYPE_VTOL_RESERVED4:
case MAV_TYPE_VTOL_RESERVED5:
switch (vehicle_type) {
case vehicle_status_s::VEHICLE_TYPE_FIXED_WING:
thrust_body_array[0] = thrust;
break;
case vehicle_status_s::VEHICLE_TYPE_ROTARY_WING:
thrust_body_array[2] = -thrust;
break;
default:
// This should never happen
break;
}
break;
}
}
void
MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
{
mavlink_set_attitude_target_t attitude_target;
mavlink_msg_set_attitude_target_decode(msg, &attitude_target);
/* Only accept messages which are intended for this system */
if (_mavlink->get_forward_externalsp() &&
(mavlink_system.sysid == attitude_target.target_system || attitude_target.target_system == 0) &&
(mavlink_system.compid == attitude_target.target_component || attitude_target.target_component == 0)) {
const uint8_t type_mask = attitude_target.type_mask;
const bool attitude = !(type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE);
const bool body_rates = !(type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE)
&& !(type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE);
const bool thrust_body = (type_mask & ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SET);
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
if (attitude) {
vehicle_attitude_setpoint_s attitude_setpoint{};
const matrix::Quatf q{attitude_target.q};
q.copyTo(attitude_setpoint.q_d);
matrix::Eulerf euler{q};
attitude_setpoint.roll_body = euler.phi();
attitude_setpoint.pitch_body = euler.theta();
attitude_setpoint.yaw_body = euler.psi();
// TODO: review use case
attitude_setpoint.yaw_sp_move_rate = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ?
(float)NAN : attitude_target.body_yaw_rate;
if (!thrust_body && !(attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) {
fill_thrust(attitude_setpoint.thrust_body, vehicle_status.vehicle_type, attitude_target.thrust);
} else if (thrust_body) {
attitude_setpoint.thrust_body[0] = attitude_target.thrust_body[0];
attitude_setpoint.thrust_body[1] = attitude_target.thrust_body[1];
attitude_setpoint.thrust_body[2] = attitude_target.thrust_body[2];
}
// publish offboard_control_mode
offboard_control_mode_s ocm{};
ocm.attitude = true;
ocm.timestamp = hrt_absolute_time();
_offboard_control_mode_pub.publish(ocm);
// Publish attitude setpoint only once in OFFBOARD
if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) {
attitude_setpoint.timestamp = hrt_absolute_time();
if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)) {
_mc_virtual_att_sp_pub.publish(attitude_setpoint);
} else if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
_fw_virtual_att_sp_pub.publish(attitude_setpoint);
} else {
_att_sp_pub.publish(attitude_setpoint);
}
}
} else if (body_rates) {
vehicle_rates_setpoint_s setpoint{};
setpoint.roll = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE) ? (float)NAN :
attitude_target.body_roll_rate;
setpoint.pitch = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE) ? (float)NAN :
attitude_target.body_pitch_rate;
setpoint.yaw = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ? (float)NAN :
attitude_target.body_yaw_rate;
if (!(attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) {
fill_thrust(setpoint.thrust_body, vehicle_status.vehicle_type, attitude_target.thrust);
}
// publish offboard_control_mode
offboard_control_mode_s ocm{};
ocm.body_rate = true;
ocm.timestamp = hrt_absolute_time();
_offboard_control_mode_pub.publish(ocm);
// Publish rate setpoint only once in OFFBOARD
if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) {
setpoint.timestamp = hrt_absolute_time();
_rates_sp_pub.publish(setpoint);
}
}
}
}
void
MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
{
/* telemetry status supported only on first ORB_MULTI_MAX_INSTANCES mavlink channels */
if (_mavlink->get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) {
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(msg, &rstatus);
radio_status_s status{};
status.timestamp = hrt_absolute_time();
status.rssi = rstatus.rssi;
status.remote_rssi = rstatus.remrssi;
status.txbuf = rstatus.txbuf;
status.noise = rstatus.noise;
status.remote_noise = rstatus.remnoise;
status.rxerrors = rstatus.rxerrors;
status.fix = rstatus.fixed;
_mavlink->update_radio_status(status);
_radio_status_pub.publish(status);
}
}
void
MavlinkReceiver::handle_message_ping(mavlink_message_t *msg)
{
mavlink_ping_t ping;
mavlink_msg_ping_decode(msg, &ping);
if ((ping.target_system == 0) &&
(ping.target_component == 0)) { // This is a ping request. Return it to the system which requested the ping.
ping.target_system = msg->sysid;
ping.target_component = msg->compid;
mavlink_msg_ping_send_struct(_mavlink->get_channel(), &ping);
} else if ((ping.target_system == mavlink_system.sysid) &&
(ping.target_component ==
mavlink_system.compid)) { // This is a returned ping message from this system. Calculate latency from it.
const hrt_abstime now = hrt_absolute_time();
// Calculate round trip time
float rtt_ms = (now - ping.time_usec) / 1000.0f;
// Update ping statistics
struct Mavlink::ping_statistics_s &pstats = _mavlink->get_ping_statistics();
pstats.last_ping_time = now;
if (pstats.last_ping_seq == 0 && ping.seq > 0) {
// This is the first reply we are receiving from an offboard system.
// We may have been broadcasting pings for some time before it came online,
// and these do not count as dropped packets.
// Reset last_ping_seq counter for correct packet drop detection
pstats.last_ping_seq = ping.seq - 1;
}
// We can only count dropped packets after the first message
if (ping.seq > pstats.last_ping_seq) {
pstats.dropped_packets += ping.seq - pstats.last_ping_seq - 1;
}
pstats.last_ping_seq = ping.seq;
pstats.last_rtt = rtt_ms;
pstats.mean_rtt = (rtt_ms + pstats.mean_rtt) / 2.0f;
pstats.max_rtt = fmaxf(rtt_ms, pstats.max_rtt);
pstats.min_rtt = pstats.min_rtt > 0.0f ? fminf(rtt_ms, pstats.min_rtt) : rtt_ms;
/* Ping status is supported only on first ORB_MULTI_MAX_INSTANCES mavlink channels */
if (_mavlink->get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) {
ping_s uorb_ping_msg{};
uorb_ping_msg.timestamp = now;
uorb_ping_msg.ping_time = ping.time_usec;
uorb_ping_msg.ping_sequence = ping.seq;
uorb_ping_msg.dropped_packets = pstats.dropped_packets;
uorb_ping_msg.rtt_ms = rtt_ms;
uorb_ping_msg.system_id = msg->sysid;
uorb_ping_msg.component_id = msg->compid;
_ping_pub.publish(uorb_ping_msg);
}
}
}
void
MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
{
if ((msg->sysid != mavlink_system.sysid) || (msg->compid == mavlink_system.compid)) {
// ignore battery status coming from other systems or from the autopilot itself
return;
}
// external battery measurements
mavlink_battery_status_t battery_mavlink;
mavlink_msg_battery_status_decode(msg, &battery_mavlink);
battery_status_s battery_status{};
battery_status.timestamp = hrt_absolute_time();
float voltage_sum = 0.0f;
uint8_t cell_count = 0;
while ((cell_count < 10) && (battery_mavlink.voltages[cell_count] < UINT16_MAX)) {
battery_status.voltage_cell_v[cell_count] = (float)(battery_mavlink.voltages[cell_count]) / 1000.0f;
voltage_sum += battery_status.voltage_cell_v[cell_count];
cell_count++;
}
battery_status.voltage_v = voltage_sum;
battery_status.voltage_filtered_v = voltage_sum;
battery_status.current_a = battery_status.current_filtered_a = (float)(battery_mavlink.current_battery) / 100.0f;
battery_status.current_filtered_a = battery_status.current_a;
battery_status.remaining = (float)battery_mavlink.battery_remaining / 100.0f;
battery_status.discharged_mah = (float)battery_mavlink.current_consumed;
battery_status.cell_count = cell_count;
battery_status.temperature = (float)battery_mavlink.temperature;
battery_status.connected = true;
// Set the battery warning based on remaining charge.
// Note: Smallest values must come first in evaluation.
if (battery_status.remaining < _param_bat_emergen_thr.get()) {
battery_status.warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
} else if (battery_status.remaining < _param_bat_crit_thr.get()) {
battery_status.warning = battery_status_s::BATTERY_WARNING_CRITICAL;
} else if (battery_status.remaining < _param_bat_low_thr.get()) {
battery_status.warning = battery_status_s::BATTERY_WARNING_LOW;
}
_battery_pub.publish(battery_status);
}
void
MavlinkReceiver::handle_message_serial_control(mavlink_message_t *msg)
{
mavlink_serial_control_t serial_control_mavlink;
mavlink_msg_serial_control_decode(msg, &serial_control_mavlink);
// we only support shell commands
if (serial_control_mavlink.device != SERIAL_CONTROL_DEV_SHELL
|| (serial_control_mavlink.flags & SERIAL_CONTROL_FLAG_REPLY)) {
return;
}
MavlinkShell *shell = _mavlink->get_shell();
if (shell) {
// we ignore the timeout, EXCLUSIVE & BLOCKING flags of the SERIAL_CONTROL message
if (serial_control_mavlink.count > 0) {
shell->write(serial_control_mavlink.data, serial_control_mavlink.count);
}
// if no response requested, assume the shell is no longer used
if ((serial_control_mavlink.flags & SERIAL_CONTROL_FLAG_RESPOND) == 0) {
_mavlink->close_shell();
}
}
}
void
MavlinkReceiver::handle_message_logging_ack(mavlink_message_t *msg)
{
mavlink_logging_ack_t logging_ack;
mavlink_msg_logging_ack_decode(msg, &logging_ack);
MavlinkULog *ulog_streaming = _mavlink->get_ulog_streaming();
if (ulog_streaming) {
ulog_streaming->handle_ack(logging_ack);
}
}
void
MavlinkReceiver::handle_message_play_tune(mavlink_message_t *msg)
{
mavlink_play_tune_t play_tune;
mavlink_msg_play_tune_decode(msg, &play_tune);
if ((mavlink_system.sysid == play_tune.target_system || play_tune.target_system == 0) &&
(mavlink_system.compid == play_tune.target_component || play_tune.target_component == 0)) {
// Let's make sure the input is 0 terminated, so we don't ever overrun it.
play_tune.tune2[sizeof(play_tune.tune2) - 1] = '\0';
schedule_tune(play_tune.tune);
}
}
void
MavlinkReceiver::handle_message_play_tune_v2(mavlink_message_t *msg)
{
mavlink_play_tune_v2_t play_tune_v2;
mavlink_msg_play_tune_v2_decode(msg, &play_tune_v2);
if ((mavlink_system.sysid == play_tune_v2.target_system || play_tune_v2.target_system == 0) &&
(mavlink_system.compid == play_tune_v2.target_component || play_tune_v2.target_component == 0)) {
if (play_tune_v2.format != TUNE_FORMAT_QBASIC1_1) {
PX4_ERR("Tune format %" PRIu32 " not supported", play_tune_v2.format);
return;
}
// Let's make sure the input is 0 terminated, so we don't ever overrun it.
play_tune_v2.tune[sizeof(play_tune_v2.tune) - 1] = '\0';
schedule_tune(play_tune_v2.tune);
}
}
void MavlinkReceiver::schedule_tune(const char *tune)
{
// We only allocate the TunePublisher object if we ever use it but we
// don't remove it to avoid fragmentation over time.
if (_tune_publisher == nullptr) {
_tune_publisher = new TunePublisher();
if (_tune_publisher == nullptr) {
PX4_ERR("Could not allocate tune publisher");
return;
}
}
const hrt_abstime now = hrt_absolute_time();
_tune_publisher->set_tune_string(tune, now);
// Send first one straightaway.
_tune_publisher->publish_next_tune(now);
}
void
MavlinkReceiver::handle_message_obstacle_distance(mavlink_message_t *msg)
{
mavlink_obstacle_distance_t mavlink_obstacle_distance;
mavlink_msg_obstacle_distance_decode(msg, &mavlink_obstacle_distance);
obstacle_distance_s obstacle_distance{};
obstacle_distance.timestamp = hrt_absolute_time();
obstacle_distance.sensor_type = mavlink_obstacle_distance.sensor_type;
memcpy(obstacle_distance.distances, mavlink_obstacle_distance.distances, sizeof(obstacle_distance.distances));
if (mavlink_obstacle_distance.increment_f > 0.f) {
obstacle_distance.increment = mavlink_obstacle_distance.increment_f;
} else {
obstacle_distance.increment = (float)mavlink_obstacle_distance.increment;
}
obstacle_distance.min_distance = mavlink_obstacle_distance.min_distance;
obstacle_distance.max_distance = mavlink_obstacle_distance.max_distance;
obstacle_distance.angle_offset = mavlink_obstacle_distance.angle_offset;
obstacle_distance.frame = mavlink_obstacle_distance.frame;
_obstacle_distance_pub.publish(obstacle_distance);
}
void
MavlinkReceiver::handle_message_trajectory_representation_bezier(mavlink_message_t *msg)
{
mavlink_trajectory_representation_bezier_t trajectory;
mavlink_msg_trajectory_representation_bezier_decode(msg, &trajectory);
vehicle_trajectory_bezier_s trajectory_bezier{};
trajectory_bezier.timestamp = _mavlink_timesync.sync_stamp(trajectory.time_usec);
for (int i = 0; i < vehicle_trajectory_bezier_s::NUMBER_POINTS; ++i) {
trajectory_bezier.control_points[i].position[0] = trajectory.pos_x[i];
trajectory_bezier.control_points[i].position[1] = trajectory.pos_y[i];
trajectory_bezier.control_points[i].position[2] = trajectory.pos_z[i];
trajectory_bezier.control_points[i].delta = trajectory.delta[i];
trajectory_bezier.control_points[i].yaw = trajectory.pos_yaw[i];
}
trajectory_bezier.bezier_order = math::min(trajectory.valid_points, vehicle_trajectory_bezier_s::NUMBER_POINTS);
_trajectory_bezier_pub.publish(trajectory_bezier);
}
void
MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_message_t *msg)
{
mavlink_trajectory_representation_waypoints_t trajectory;
mavlink_msg_trajectory_representation_waypoints_decode(msg, &trajectory);
vehicle_trajectory_waypoint_s trajectory_waypoint{};
const int number_valid_points = math::min(trajectory.valid_points, vehicle_trajectory_waypoint_s::NUMBER_POINTS);
for (int i = 0; i < number_valid_points; ++i) {
trajectory_waypoint.waypoints[i].position[0] = trajectory.pos_x[i];
trajectory_waypoint.waypoints[i].position[1] = trajectory.pos_y[i];
trajectory_waypoint.waypoints[i].position[2] = trajectory.pos_z[i];
trajectory_waypoint.waypoints[i].velocity[0] = trajectory.vel_x[i];
trajectory_waypoint.waypoints[i].velocity[1] = trajectory.vel_y[i];
trajectory_waypoint.waypoints[i].velocity[2] = trajectory.vel_z[i];
trajectory_waypoint.waypoints[i].acceleration[0] = trajectory.acc_x[i];
trajectory_waypoint.waypoints[i].acceleration[1] = trajectory.acc_y[i];
trajectory_waypoint.waypoints[i].acceleration[2] = trajectory.acc_z[i];
trajectory_waypoint.waypoints[i].yaw = trajectory.pos_yaw[i];
trajectory_waypoint.waypoints[i].yaw_speed = trajectory.vel_yaw[i];
trajectory_waypoint.waypoints[i].point_valid = true;
trajectory_waypoint.waypoints[i].type = UINT8_MAX;
}
trajectory_waypoint.timestamp = hrt_absolute_time();
_trajectory_waypoint_pub.publish(trajectory_waypoint);
}
int
MavlinkReceiver::decode_switch_pos_n(uint16_t buttons, unsigned sw)
{
bool on = (buttons & (1 << sw));
if (sw < MOM_SWITCH_COUNT) {
bool last_on = (_mom_switch_state & (1 << sw));
/* first switch is 2-pos, rest is 2 pos */
unsigned state_count = (sw == 0) ? 3 : 2;
/* only transition on low state */
if (!on && (on != last_on)) {
_mom_switch_pos[sw]++;
if (_mom_switch_pos[sw] == state_count) {
_mom_switch_pos[sw] = 0;
}
}
/* state_count - 1 is the number of intervals and 1000 is the range,
* with 2 states 0 becomes 0, 1 becomes 1000. With
* 3 states 0 becomes 0, 1 becomes 500, 2 becomes 1000,
* and so on for more states.
*/
return (_mom_switch_pos[sw] * 1000) / (state_count - 1) + 1000;
} else {
/* return the current state */
return on * 1000 + 1000;
}
}
void
MavlinkReceiver::handle_message_rc_channels(mavlink_message_t *msg)
{
mavlink_rc_channels_t rc_channels;
mavlink_msg_rc_channels_decode(msg, &rc_channels);
if (msg->compid != MAV_COMP_ID_SYSTEM_CONTROL) {
PX4_DEBUG("Mavlink receiver only processes RC_CHANNELS from MAV_COMP_ID_SYSTEM_CONTROL");
return;
}
input_rc_s rc{};
rc.timestamp_last_signal = hrt_absolute_time();
rc.rssi = input_rc_s::RSSI_MAX;
// TODO: fake RSSI from dropped messages?
// for (auto &component_state : _component_states) {
// if (component_state.component_id == MAV_COMP_ID_SYSTEM_CONTROL) {
// rc.rssi = (float)component_state.missed_messages / (float)component_state.received_messages;
// }
// }
rc.rc_total_frame_count = 1;
rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
// channels
rc.values[0] = rc_channels.chan1_raw;
rc.values[1] = rc_channels.chan2_raw;
rc.values[2] = rc_channels.chan3_raw;
rc.values[3] = rc_channels.chan4_raw;
rc.values[4] = rc_channels.chan5_raw;
rc.values[5] = rc_channels.chan6_raw;
rc.values[6] = rc_channels.chan7_raw;
rc.values[7] = rc_channels.chan8_raw;
rc.values[8] = rc_channels.chan9_raw;
rc.values[9] = rc_channels.chan10_raw;
rc.values[10] = rc_channels.chan11_raw;
rc.values[11] = rc_channels.chan12_raw;
rc.values[12] = rc_channels.chan13_raw;
rc.values[13] = rc_channels.chan14_raw;
rc.values[14] = rc_channels.chan15_raw;
rc.values[15] = rc_channels.chan16_raw;
rc.values[16] = rc_channels.chan17_raw;
rc.values[17] = rc_channels.chan18_raw;
// check how many channels are valid
for (int i = 17; i >= 0; i--) {
const bool ignore_max = rc.values[i] == UINT16_MAX; // ignore any channel with value UINT16_MAX
const bool ignore_zero = (i > 7) && (rc.values[i] == 0); // ignore channel 8-18 if value is 0
if (ignore_max || ignore_zero) {
// set all ignored values to zero
rc.values[i] = 0;
} else {
// first channel to not ignore -> set count considering zero-based index
rc.channel_count = i + 1;
break;
}
}
// publish uORB message
rc.timestamp = hrt_absolute_time();
_rc_pub.publish(rc);
}
void
MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
{
mavlink_rc_channels_override_t man;
mavlink_msg_rc_channels_override_decode(msg, &man);
// Check target
if (man.target_system != 0 && man.target_system != _mavlink->get_system_id()) {
return;
}
// fill uORB message
input_rc_s rc{};
// metadata
rc.timestamp = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp;
rc.rssi = input_rc_s::RSSI_MAX;
rc.rc_failsafe = false;
rc.rc_lost = false;
rc.rc_lost_frame_count = 0;
rc.rc_total_frame_count = 1;
rc.rc_ppm_frame_length = 0;
rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
// channels
rc.values[0] = man.chan1_raw;
rc.values[1] = man.chan2_raw;
rc.values[2] = man.chan3_raw;
rc.values[3] = man.chan4_raw;
rc.values[4] = man.chan5_raw;
rc.values[5] = man.chan6_raw;
rc.values[6] = man.chan7_raw;
rc.values[7] = man.chan8_raw;
rc.values[8] = man.chan9_raw;
rc.values[9] = man.chan10_raw;
rc.values[10] = man.chan11_raw;
rc.values[11] = man.chan12_raw;
rc.values[12] = man.chan13_raw;
rc.values[13] = man.chan14_raw;
rc.values[14] = man.chan15_raw;
rc.values[15] = man.chan16_raw;
rc.values[16] = man.chan17_raw;
rc.values[17] = man.chan18_raw;
// check how many channels are valid
for (int i = 17; i >= 0; i--) {
const bool ignore_max = rc.values[i] == UINT16_MAX; // ignore any channel with value UINT16_MAX
const bool ignore_zero = (i > 7) && (rc.values[i] == 0); // ignore channel 8-18 if value is 0
if (ignore_max || ignore_zero) {
// set all ignored values to zero
rc.values[i] = 0;
} else {
// first channel to not ignore -> set count considering zero-based index
rc.channel_count = i + 1;
break;
}
}
// publish uORB message
_rc_pub.publish(rc);
}
void
MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
{
mavlink_manual_control_t man;
mavlink_msg_manual_control_decode(msg, &man);
// Check target
if (man.target != 0 && man.target != _mavlink->get_system_id()) {
return;
}
if (_mavlink->should_generate_virtual_rc_input()) {
input_rc_s rc{};
rc.timestamp = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp;
rc.channel_count = 8;
rc.rc_failsafe = false;
rc.rc_lost = false;
rc.rc_lost_frame_count = 0;
rc.rc_total_frame_count = 1;
rc.rc_ppm_frame_length = 0;
rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
rc.rssi = input_rc_s::RSSI_MAX;
rc.values[0] = man.x / 2 + 1500; // roll
rc.values[1] = man.y / 2 + 1500; // pitch
rc.values[2] = man.r / 2 + 1500; // yaw
rc.values[3] = math::constrain(man.z / 0.9f + 800.0f, 1000.0f, 2000.0f); // throttle
/* decode all switches which fit into the channel mask */
unsigned max_switch = (sizeof(man.buttons) * 8);
unsigned max_channels = (sizeof(rc.values) / sizeof(rc.values[0]));
if (max_switch > (max_channels - 4)) {
max_switch = (max_channels - 4);
}
/* fill all channels */
for (unsigned i = 0; i < max_switch; i++) {
rc.values[i + 4] = decode_switch_pos_n(man.buttons, i);
}
_mom_switch_state = man.buttons;
_rc_pub.publish(rc);
} else {
manual_control_setpoint_s manual{};
manual.timestamp = hrt_absolute_time();
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
_manual_control_setpoint_pub.publish(manual);
}
}
void
MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
{
/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
if (_mavlink->get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) {
const hrt_abstime now = hrt_absolute_time();
mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(msg, &hb);
const bool same_system = (msg->sysid == mavlink_system.sysid);
if (same_system || hb.type == MAV_TYPE_GCS) {
camera_status_s camera_status{};
switch (hb.type) {
case MAV_TYPE_ANTENNA_TRACKER:
_heartbeat_type_antenna_tracker = now;
break;
case MAV_TYPE_GCS:
_heartbeat_type_gcs = now;
break;
case MAV_TYPE_ONBOARD_CONTROLLER:
_heartbeat_type_onboard_controller = now;
break;
case MAV_TYPE_GIMBAL:
_heartbeat_type_gimbal = now;
break;
case MAV_TYPE_ADSB:
_heartbeat_type_adsb = now;
break;
case MAV_TYPE_CAMERA:
_heartbeat_type_camera = now;
camera_status.timestamp = now;
camera_status.active_comp_id = msg->compid;
camera_status.active_sys_id = msg->sysid;
_camera_status_pub.publish(camera_status);
break;
default:
PX4_DEBUG("unhandled HEARTBEAT MAV_TYPE: %" PRIu8 " from SYSID: %" PRIu8 ", COMPID: %" PRIu8, hb.type, msg->sysid,
msg->compid);
}
switch (msg->compid) {
case MAV_COMP_ID_TELEMETRY_RADIO:
_heartbeat_component_telemetry_radio = now;
break;
case MAV_COMP_ID_LOG:
_heartbeat_component_log = now;
break;
case MAV_COMP_ID_OSD:
_heartbeat_component_osd = now;
break;
case MAV_COMP_ID_OBSTACLE_AVOIDANCE:
_heartbeat_component_obstacle_avoidance = now;
_mavlink->telemetry_status().avoidance_system_healthy = (hb.system_status == MAV_STATE_ACTIVE);
break;
case MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY:
_heartbeat_component_visual_inertial_odometry = now;
break;
case MAV_COMP_ID_PAIRING_MANAGER:
_heartbeat_component_pairing_manager = now;
break;
case MAV_COMP_ID_UDP_BRIDGE:
_heartbeat_component_udp_bridge = now;
break;
case MAV_COMP_ID_UART_BRIDGE:
_heartbeat_component_uart_bridge = now;
break;
default:
PX4_DEBUG("unhandled HEARTBEAT MAV_TYPE: %" PRIu8 " from SYSID: %" PRIu8 ", COMPID: %" PRIu8, hb.type, msg->sysid,
msg->compid);
}
CheckHeartbeats(now, true);
}
}
}
int
MavlinkReceiver::set_message_interval(int msgId, float interval, int data_rate)
{
if (msgId == MAVLINK_MSG_ID_HEARTBEAT) {
return PX4_ERROR;
}
if (data_rate > 0) {
_mavlink->set_data_rate(data_rate);
}
// configure_stream wants a rate (msgs/second), so convert here.
float rate = 0.f;
if (interval < -0.00001f) {
rate = 0.f; // stop the stream
} else if (interval > 0.00001f) {
rate = 1000000.0f / interval;
} else {
rate = -2.f; // set default rate
}
bool found_id = false;
if (msgId != 0) {
const char *stream_name = get_stream_name(msgId);
if (stream_name != nullptr) {
_mavlink->configure_stream_threadsafe(stream_name, rate);
found_id = true;
}
}
return (found_id ? PX4_OK : PX4_ERROR);
}
void
MavlinkReceiver::get_message_interval(int msgId)
{
unsigned interval = 0;
for (const auto &stream : _mavlink->get_streams()) {
if (stream->get_id() == msgId) {
interval = stream->get_interval();
break;
}
}
// send back this value...
mavlink_msg_message_interval_send(_mavlink->get_channel(), msgId, interval);
}
void
MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
{
mavlink_hil_sensor_t hil_sensor;
mavlink_msg_hil_sensor_decode(msg, &hil_sensor);
const uint64_t timestamp = hrt_absolute_time();
// temperature only updated with baro
float temperature = NAN;
if ((hil_sensor.fields_updated & SensorSource::BARO) == SensorSource::BARO) {
temperature = hil_sensor.temperature;
}
// gyro
if ((hil_sensor.fields_updated & SensorSource::GYRO) == SensorSource::GYRO) {
if (_px4_gyro == nullptr) {
// 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_gyro = new PX4Gyroscope(1310988);
}
if (_px4_gyro != nullptr) {
if (PX4_ISFINITE(temperature)) {
_px4_gyro->set_temperature(temperature);
}
_px4_gyro->update(timestamp, hil_sensor.xgyro, hil_sensor.ygyro, hil_sensor.zgyro);
}
}
// accelerometer
if ((hil_sensor.fields_updated & SensorSource::ACCEL) == SensorSource::ACCEL) {
if (_px4_accel == nullptr) {
// 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_accel = new PX4Accelerometer(1310988);
}
if (_px4_accel != nullptr) {
if (PX4_ISFINITE(temperature)) {
_px4_accel->set_temperature(temperature);
}
_px4_accel->update(timestamp, hil_sensor.xacc, hil_sensor.yacc, hil_sensor.zacc);
}
}
// magnetometer
if ((hil_sensor.fields_updated & SensorSource::MAG) == SensorSource::MAG) {
if (_px4_mag == nullptr) {
// 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
_px4_mag = new PX4Magnetometer(197388);
}
if (_px4_mag != nullptr) {
if (PX4_ISFINITE(temperature)) {
_px4_mag->set_temperature(temperature);
}
_px4_mag->update(timestamp, hil_sensor.xmag, hil_sensor.ymag, hil_sensor.zmag);
}
}
// baro
if ((hil_sensor.fields_updated & SensorSource::BARO) == SensorSource::BARO) {
if (_px4_baro == nullptr) {
// 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
_px4_baro = new PX4Barometer(6620172);
}
if (_px4_baro != nullptr) {
_px4_baro->set_temperature(hil_sensor.temperature);
_px4_baro->update(timestamp, hil_sensor.abs_pressure);
}
}
// differential pressure
if ((hil_sensor.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS) {
differential_pressure_s report{};
report.timestamp = timestamp;
report.temperature = hil_sensor.temperature;
report.differential_pressure_filtered_pa = hil_sensor.diff_pressure * 100.0f; // convert from millibar to bar;
report.differential_pressure_raw_pa = hil_sensor.diff_pressure * 100.0f; // convert from millibar to bar;
_differential_pressure_pub.publish(report);
}
// battery status
{
battery_status_s hil_battery_status{};
hil_battery_status.timestamp = timestamp;
hil_battery_status.voltage_v = 16.0f;
hil_battery_status.voltage_filtered_v = 16.0f;
hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f;
hil_battery_status.connected = true;
hil_battery_status.remaining = 0.70;
_battery_pub.publish(hil_battery_status);
}
}
void
MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
{
mavlink_hil_gps_t hil_gps;
mavlink_msg_hil_gps_decode(msg, &hil_gps);
sensor_gps_s gps{};
device::Device::DeviceId device_id{};
device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK;
device_id.devid_s.address = msg->sysid;
device_id.devid_s.devtype = DRV_GPS_DEVTYPE_SIM;
gps.device_id = device_id.devid;
gps.lat = hil_gps.lat;
gps.lon = hil_gps.lon;
gps.alt = hil_gps.alt;
gps.alt_ellipsoid = hil_gps.alt;
gps.s_variance_m_s = 0.25f;
gps.c_variance_rad = 0.5f;
gps.fix_type = hil_gps.fix_type;
gps.eph = (float)hil_gps.eph * 1e-2f; // cm -> m
gps.epv = (float)hil_gps.epv * 1e-2f; // cm -> m
gps.hdop = 0; // TODO
gps.vdop = 0; // TODO
gps.noise_per_ms = 0;
gps.automatic_gain_control = 0;
gps.jamming_indicator = 0;
gps.jamming_state = 0;
gps.vel_m_s = (float)(hil_gps.vel) / 100.0f; // cm/s -> m/s
gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f; // cm/s -> m/s
gps.vel_e_m_s = (float)(hil_gps.ve) / 100.0f; // cm/s -> m/s
gps.vel_d_m_s = (float)(hil_gps.vd) / 100.0f; // cm/s -> m/s
gps.cog_rad = ((hil_gps.cog == 65535) ? (float)NAN : matrix::wrap_2pi(math::radians(
hil_gps.cog * 1e-2f))); // cdeg -> rad
gps.vel_ned_valid = true;
gps.timestamp_time_relative = 0;
gps.time_utc_usec = hil_gps.time_usec;
gps.satellites_used = hil_gps.satellites_visible;
gps.heading = NAN;
gps.heading_offset = NAN;
gps.timestamp = hrt_absolute_time();
_sensor_gps_pub.publish(gps);
}
void
MavlinkReceiver::handle_message_follow_target(mavlink_message_t *msg)
{
mavlink_follow_target_t follow_target_msg;
mavlink_msg_follow_target_decode(msg, &follow_target_msg);
follow_target_s follow_target_topic{};
follow_target_topic.timestamp = hrt_absolute_time();
follow_target_topic.lat = follow_target_msg.lat * 1e-7;
follow_target_topic.lon = follow_target_msg.lon * 1e-7;
follow_target_topic.alt = follow_target_msg.alt;
follow_target_topic.vx = follow_target_msg.vel[0];
follow_target_topic.vy = follow_target_msg.vel[1];
follow_target_topic.vz = follow_target_msg.vel[2];
_follow_target_pub.publish(follow_target_topic);
}
void
MavlinkReceiver::handle_message_landing_target(mavlink_message_t *msg)
{
mavlink_landing_target_t landing_target;
mavlink_msg_landing_target_decode(msg, &landing_target);
if (landing_target.position_valid && landing_target.frame == MAV_FRAME_LOCAL_NED) {
landing_target_pose_s landing_target_pose{};
landing_target_pose.timestamp = _mavlink_timesync.sync_stamp(landing_target.time_usec);
landing_target_pose.abs_pos_valid = true;
landing_target_pose.x_abs = landing_target.x;
landing_target_pose.y_abs = landing_target.y;
landing_target_pose.z_abs = landing_target.z;
_landing_target_pose_pub.publish(landing_target_pose);
} else if (landing_target.position_valid) {
// We only support MAV_FRAME_LOCAL_NED. In this case, the frame was unsupported.
mavlink_log_critical(&_mavlink_log_pub, "landing target: coordinate frame %" PRIu8 " unsupported\t",
landing_target.frame);
events::send<uint8_t>(events::ID("mavlink_rcv_lnd_target_unsup_coord"), events::Log::Error,
"landing target: unsupported coordinate frame {1}", landing_target.frame);
} else {
irlock_report_s irlock_report{};
irlock_report.timestamp = hrt_absolute_time();
irlock_report.signature = landing_target.target_num;
irlock_report.pos_x = landing_target.angle_x;
irlock_report.pos_y = landing_target.angle_y;
irlock_report.size_x = landing_target.size_x;
irlock_report.size_y = landing_target.size_y;
_irlock_report_pub.publish(irlock_report);
}
}
void
MavlinkReceiver::handle_message_cellular_status(mavlink_message_t *msg)
{
mavlink_cellular_status_t status;
mavlink_msg_cellular_status_decode(msg, &status);
cellular_status_s cellular_status{};
cellular_status.timestamp = hrt_absolute_time();
cellular_status.status = status.status;
cellular_status.failure_reason = status.failure_reason;
cellular_status.type = status.type;
cellular_status.quality = status.quality;
cellular_status.mcc = status.mcc;
cellular_status.mnc = status.mnc;
cellular_status.lac = status.lac;
_cellular_status_pub.publish(cellular_status);
}
void
MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
{
mavlink_adsb_vehicle_t adsb;
mavlink_msg_adsb_vehicle_decode(msg, &adsb);
transponder_report_s t{};
t.timestamp = hrt_absolute_time();
t.icao_address = adsb.ICAO_address;
t.lat = adsb.lat * 1e-7;
t.lon = adsb.lon * 1e-7;
t.altitude_type = adsb.altitude_type;
t.altitude = adsb.altitude / 1000.0f;
t.heading = adsb.heading / 100.0f / 180.0f * M_PI_F - M_PI_F;
t.hor_velocity = adsb.hor_velocity / 100.0f;
t.ver_velocity = adsb.ver_velocity / 100.0f;
memcpy(&t.callsign[0], &adsb.callsign[0], sizeof(t.callsign));
t.emitter_type = adsb.emitter_type;
t.tslc = adsb.tslc;
t.squawk = adsb.squawk;
t.flags = transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE; //Unset in receiver already broadcast its messages
if (adsb.flags & ADSB_FLAGS_VALID_COORDS) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS; }
if (adsb.flags & ADSB_FLAGS_VALID_ALTITUDE) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE; }
if (adsb.flags & ADSB_FLAGS_VALID_HEADING) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING; }
if (adsb.flags & ADSB_FLAGS_VALID_VELOCITY) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY; }
if (adsb.flags & ADSB_FLAGS_VALID_CALLSIGN) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN; }
if (adsb.flags & ADSB_FLAGS_VALID_SQUAWK) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK; }
//PX4_INFO("code: %d callsign: %s, vel: %8.4f, tslc: %d", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity, (int)t.tslc);
_transponder_report_pub.publish(t);
}
void
MavlinkReceiver::handle_message_utm_global_position(mavlink_message_t *msg)
{
mavlink_utm_global_position_t utm_pos;
mavlink_msg_utm_global_position_decode(msg, &utm_pos);
bool is_self_published = false;
#ifndef BOARD_HAS_NO_UUID
px4_guid_t px4_guid;
board_get_px4_guid(px4_guid);
is_self_published = sizeof(px4_guid) == sizeof(utm_pos.uas_id)
&& memcmp(px4_guid, utm_pos.uas_id, sizeof(px4_guid_t)) == 0;
#else
is_self_published = msg->sysid == _mavlink->get_system_id();
#endif /* BOARD_HAS_NO_UUID */
//Ignore selfpublished UTM messages
if (is_self_published) {
return;
}
// Convert cm/s to m/s
float vx = utm_pos.vx / 100.0f;
float vy = utm_pos.vy / 100.0f;
float vz = utm_pos.vz / 100.0f;
transponder_report_s t{};
t.timestamp = hrt_absolute_time();
mav_array_memcpy(t.uas_id, utm_pos.uas_id, PX4_GUID_BYTE_LENGTH);
t.lat = utm_pos.lat * 1e-7;
t.lon = utm_pos.lon * 1e-7;
t.altitude = utm_pos.alt / 1000.0f;
t.altitude_type = ADSB_ALTITUDE_TYPE_GEOMETRIC;
// UTM_GLOBAL_POSIION uses NED (north, east, down) coordinates for velocity, in cm / s.
t.heading = atan2f(vy, vx);
t.hor_velocity = sqrtf(vy * vy + vx * vx);
t.ver_velocity = -vz;
// TODO: Callsign
// For now, set it to all 0s. This is a null-terminated string, so not explicitly giving it a null
// terminator could cause problems.
memset(&t.callsign[0], 0, sizeof(t.callsign));
t.emitter_type = ADSB_EMITTER_TYPE_UAV; // TODO: Is this correct?x2?
// The Mavlink docs do not specify what to do if tslc (time since last communication) is out of range of
// an 8-bit int, or if this is the first communication.
// Here, I assume that if this is the first communication, tslc = 0.
// If tslc > 255, then tslc = 255.
unsigned long time_passed = (t.timestamp - _last_utm_global_pos_com) / 1000000;
if (_last_utm_global_pos_com == 0) {
time_passed = 0;
} else if (time_passed > UINT8_MAX) {
time_passed = UINT8_MAX;
}
t.tslc = (uint8_t) time_passed;
t.flags = 0;
if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE) {
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS;
}
if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE) {
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE;
}
if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE) {
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY;
}
// Note: t.flags has deliberately NOT set VALID_CALLSIGN or VALID_SQUAWK, because UTM_GLOBAL_POSITION does not
// provide these.
_transponder_report_pub.publish(t);
_last_utm_global_pos_com = t.timestamp;
}
void
MavlinkReceiver::handle_message_collision(mavlink_message_t *msg)
{
mavlink_collision_t collision;
mavlink_msg_collision_decode(msg, &collision);
collision_report_s collision_report{};
collision_report.timestamp = hrt_absolute_time();
collision_report.src = collision.src;
collision_report.id = collision.id;
collision_report.action = collision.action;
collision_report.threat_level = collision.threat_level;
collision_report.time_to_minimum_delta = collision.time_to_minimum_delta;
collision_report.altitude_minimum_delta = collision.altitude_minimum_delta;
collision_report.horizontal_minimum_delta = collision.horizontal_minimum_delta;
_collision_report_pub.publish(collision_report);
}
void
MavlinkReceiver::handle_message_gps_rtcm_data(mavlink_message_t *msg)
{
mavlink_gps_rtcm_data_t gps_rtcm_data_msg;
mavlink_msg_gps_rtcm_data_decode(msg, &gps_rtcm_data_msg);
gps_inject_data_s gps_inject_data_topic{};
gps_inject_data_topic.len = math::min((int)sizeof(gps_rtcm_data_msg.data),
(int)sizeof(uint8_t) * gps_rtcm_data_msg.len);
gps_inject_data_topic.flags = gps_rtcm_data_msg.flags;
memcpy(gps_inject_data_topic.data, gps_rtcm_data_msg.data,
math::min((int)sizeof(gps_inject_data_topic.data), (int)sizeof(uint8_t) * gps_inject_data_topic.len));
_gps_inject_data_pub.publish(gps_inject_data_topic);
}
void
MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
{
mavlink_hil_state_quaternion_t hil_state;
mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);
const uint64_t timestamp_sample = hrt_absolute_time();
/* airspeed */
{
airspeed_s airspeed{};
airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
airspeed.air_temperature_celsius = 15.f;
airspeed.timestamp = hrt_absolute_time();
_airspeed_pub.publish(airspeed);
}
/* attitude */
{
vehicle_attitude_s hil_attitude{};
hil_attitude.timestamp_sample = timestamp_sample;
matrix::Quatf q(hil_state.attitude_quaternion);
q.copyTo(hil_attitude.q);
hil_attitude.timestamp = hrt_absolute_time();
_attitude_pub.publish(hil_attitude);
}
/* global position */
{
vehicle_global_position_s hil_global_pos{};
hil_global_pos.timestamp_sample = timestamp_sample;
hil_global_pos.lat = hil_state.lat / ((double)1e7);
hil_global_pos.lon = hil_state.lon / ((double)1e7);
hil_global_pos.alt = hil_state.alt / 1000.0f;
hil_global_pos.eph = 2.f;
hil_global_pos.epv = 4.f;
hil_global_pos.timestamp = hrt_absolute_time();
_global_pos_pub.publish(hil_global_pos);
}
/* local position */
{
const double lat = hil_state.lat * 1e-7;
const double lon = hil_state.lon * 1e-7;
if (!map_projection_initialized(&_global_local_proj_ref) || !PX4_ISFINITE(_global_local_alt0)) {
map_projection_init(&_global_local_proj_ref, lat, lon);
_global_local_alt0 = hil_state.alt / 1000.f;
}
float x = 0.f;
float y = 0.f;
map_projection_project(&_global_local_proj_ref, lat, lon, &x, &y);
vehicle_local_position_s hil_local_pos{};
hil_local_pos.timestamp_sample = timestamp_sample;
hil_local_pos.ref_timestamp = _global_local_proj_ref.timestamp;
hil_local_pos.ref_lat = math::degrees(_global_local_proj_ref.lat_rad);
hil_local_pos.ref_lon = math::degrees(_global_local_proj_ref.lon_rad);
hil_local_pos.ref_alt = _global_local_alt0;
hil_local_pos.xy_valid = true;
hil_local_pos.z_valid = true;
hil_local_pos.v_xy_valid = true;
hil_local_pos.v_z_valid = true;
hil_local_pos.x = x;
hil_local_pos.y = y;
hil_local_pos.z = _global_local_alt0 - hil_state.alt / 1000.f;
hil_local_pos.vx = hil_state.vx / 100.f;
hil_local_pos.vy = hil_state.vy / 100.f;
hil_local_pos.vz = hil_state.vz / 100.f;
matrix::Eulerf euler{matrix::Quatf(hil_state.attitude_quaternion)};
hil_local_pos.heading = euler.psi();
hil_local_pos.xy_global = true;
hil_local_pos.z_global = true;
hil_local_pos.vxy_max = INFINITY;
hil_local_pos.vz_max = INFINITY;
hil_local_pos.hagl_min = INFINITY;
hil_local_pos.hagl_max = INFINITY;
hil_local_pos.timestamp = hrt_absolute_time();
_local_pos_pub.publish(hil_local_pos);
}
/* accelerometer */
{
if (_px4_accel == nullptr) {
// 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_accel = new PX4Accelerometer(1310988);
if (_px4_accel == nullptr) {
PX4_ERR("PX4Accelerometer alloc failed");
}
}
if (_px4_accel != nullptr) {
// accel in mG
_px4_accel->set_scale(CONSTANTS_ONE_G / 1000.0f);
_px4_accel->update(timestamp_sample, hil_state.xacc, hil_state.yacc, hil_state.zacc);
}
}
/* gyroscope */
{
if (_px4_gyro == nullptr) {
// 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_gyro = new PX4Gyroscope(1310988);
if (_px4_gyro == nullptr) {
PX4_ERR("PX4Gyroscope alloc failed");
}
}
if (_px4_gyro != nullptr) {
_px4_gyro->update(timestamp_sample, hil_state.rollspeed, hil_state.pitchspeed, hil_state.yawspeed);
}
}
/* battery status */
{
battery_status_s hil_battery_status{};
hil_battery_status.voltage_v = 11.1f;
hil_battery_status.voltage_filtered_v = 11.1f;
hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f;
hil_battery_status.timestamp = hrt_absolute_time();
_battery_pub.publish(hil_battery_status);
}
}
#if !defined(CONSTRAINED_FLASH)
void
MavlinkReceiver::handle_message_named_value_float(mavlink_message_t *msg)
{
mavlink_named_value_float_t debug_msg;
mavlink_msg_named_value_float_decode(msg, &debug_msg);
debug_key_value_s debug_topic{};
debug_topic.timestamp = hrt_absolute_time();
memcpy(debug_topic.key, debug_msg.name, sizeof(debug_topic.key));
debug_topic.key[sizeof(debug_topic.key) - 1] = '\0'; // enforce null termination
debug_topic.value = debug_msg.value;
_debug_key_value_pub.publish(debug_topic);
}
void
MavlinkReceiver::handle_message_debug(mavlink_message_t *msg)
{
mavlink_debug_t debug_msg;
mavlink_msg_debug_decode(msg, &debug_msg);
debug_value_s debug_topic{};
debug_topic.timestamp = hrt_absolute_time();
debug_topic.ind = debug_msg.ind;
debug_topic.value = debug_msg.value;
_debug_value_pub.publish(debug_topic);
}
void
MavlinkReceiver::handle_message_debug_vect(mavlink_message_t *msg)
{
mavlink_debug_vect_t debug_msg;
mavlink_msg_debug_vect_decode(msg, &debug_msg);
debug_vect_s debug_topic{};
debug_topic.timestamp = hrt_absolute_time();
memcpy(debug_topic.name, debug_msg.name, sizeof(debug_topic.name));
debug_topic.name[sizeof(debug_topic.name) - 1] = '\0'; // enforce null termination
debug_topic.x = debug_msg.x;
debug_topic.y = debug_msg.y;
debug_topic.z = debug_msg.z;
_debug_vect_pub.publish(debug_topic);
}
void
MavlinkReceiver::handle_message_debug_float_array(mavlink_message_t *msg)
{
mavlink_debug_float_array_t debug_msg;
mavlink_msg_debug_float_array_decode(msg, &debug_msg);
debug_array_s debug_topic{};
debug_topic.timestamp = hrt_absolute_time();
debug_topic.id = debug_msg.array_id;
memcpy(debug_topic.name, debug_msg.name, sizeof(debug_topic.name));
debug_topic.name[sizeof(debug_topic.name) - 1] = '\0'; // enforce null termination
for (size_t i = 0; i < debug_array_s::ARRAY_SIZE; i++) {
debug_topic.data[i] = debug_msg.data[i];
}
_debug_array_pub.publish(debug_topic);
}
#endif // !CONSTRAINED_FLASH
void
MavlinkReceiver::handle_message_onboard_computer_status(mavlink_message_t *msg)
{
mavlink_onboard_computer_status_t status_msg;
mavlink_msg_onboard_computer_status_decode(msg, &status_msg);
onboard_computer_status_s onboard_computer_status_topic{};
onboard_computer_status_topic.timestamp = hrt_absolute_time();
onboard_computer_status_topic.uptime = status_msg.uptime;
onboard_computer_status_topic.type = status_msg.type;
memcpy(onboard_computer_status_topic.cpu_cores, status_msg.cpu_cores, sizeof(status_msg.cpu_cores));
memcpy(onboard_computer_status_topic.cpu_combined, status_msg.cpu_combined, sizeof(status_msg.cpu_combined));
memcpy(onboard_computer_status_topic.gpu_cores, status_msg.gpu_cores, sizeof(status_msg.gpu_cores));
memcpy(onboard_computer_status_topic.gpu_combined, status_msg.gpu_combined, sizeof(status_msg.gpu_combined));
onboard_computer_status_topic.temperature_board = status_msg.temperature_board;
memcpy(onboard_computer_status_topic.temperature_core, status_msg.temperature_core,
sizeof(status_msg.temperature_core));
memcpy(onboard_computer_status_topic.fan_speed, status_msg.fan_speed, sizeof(status_msg.fan_speed));
onboard_computer_status_topic.ram_usage = status_msg.ram_usage;
onboard_computer_status_topic.ram_total = status_msg.ram_total;
memcpy(onboard_computer_status_topic.storage_type, status_msg.storage_type, sizeof(status_msg.storage_type));
memcpy(onboard_computer_status_topic.storage_usage, status_msg.storage_usage, sizeof(status_msg.storage_usage));
memcpy(onboard_computer_status_topic.storage_total, status_msg.storage_total, sizeof(status_msg.storage_total));
memcpy(onboard_computer_status_topic.link_type, status_msg.link_type, sizeof(status_msg.link_type));
memcpy(onboard_computer_status_topic.link_tx_rate, status_msg.link_tx_rate, sizeof(status_msg.link_tx_rate));
memcpy(onboard_computer_status_topic.link_rx_rate, status_msg.link_rx_rate, sizeof(status_msg.link_rx_rate));
memcpy(onboard_computer_status_topic.link_tx_max, status_msg.link_tx_max, sizeof(status_msg.link_tx_max));
memcpy(onboard_computer_status_topic.link_rx_max, status_msg.link_rx_max, sizeof(status_msg.link_rx_max));
_onboard_computer_status_pub.publish(onboard_computer_status_topic);
}
void MavlinkReceiver::handle_message_generator_status(mavlink_message_t *msg)
{
mavlink_generator_status_t status_msg;
mavlink_msg_generator_status_decode(msg, &status_msg);
generator_status_s generator_status{};
generator_status.timestamp = hrt_absolute_time();
generator_status.status = status_msg.status;
generator_status.battery_current = status_msg.battery_current;
generator_status.load_current = status_msg.load_current;
generator_status.power_generated = status_msg.power_generated;
generator_status.bus_voltage = status_msg.bus_voltage;
generator_status.bat_current_setpoint = status_msg.bat_current_setpoint;
generator_status.runtime = status_msg.runtime;
generator_status.time_until_maintenance = status_msg.time_until_maintenance;
generator_status.generator_speed = status_msg.generator_speed;
generator_status.rectifier_temperature = status_msg.rectifier_temperature;
generator_status.generator_temperature = status_msg.generator_temperature;
_generator_status_pub.publish(generator_status);
}
void MavlinkReceiver::handle_message_statustext(mavlink_message_t *msg)
{
if (msg->sysid == mavlink_system.sysid) {
// log message from the same system
mavlink_statustext_t statustext;
mavlink_msg_statustext_decode(msg, &statustext);
log_message_s log_message{};
log_message.severity = statustext.severity;
log_message.timestamp = hrt_absolute_time();
snprintf(log_message.text, sizeof(log_message.text),
"[mavlink: component %" PRIu8 "] %." STRINGIFY(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN) "s", msg->compid,
statustext.text);
_log_message_pub.publish(log_message);
}
}
void MavlinkReceiver::CheckHeartbeats(const hrt_abstime &t, bool force)
{
// check HEARTBEATs for timeout
static constexpr uint64_t TIMEOUT = telemetry_status_s::HEARTBEAT_TIMEOUT_US;
if (t <= TIMEOUT) {
return;
}
if ((t >= _last_heartbeat_check + (TIMEOUT / 2)) || force) {
telemetry_status_s &tstatus = _mavlink->telemetry_status();
tstatus.heartbeat_type_antenna_tracker = (t <= TIMEOUT + _heartbeat_type_antenna_tracker);
tstatus.heartbeat_type_gcs = (t <= TIMEOUT + _heartbeat_type_gcs);
tstatus.heartbeat_type_onboard_controller = (t <= TIMEOUT + _heartbeat_type_onboard_controller);
tstatus.heartbeat_type_gimbal = (t <= TIMEOUT + _heartbeat_type_gimbal);
tstatus.heartbeat_type_adsb = (t <= TIMEOUT + _heartbeat_type_adsb);
tstatus.heartbeat_type_camera = (t <= TIMEOUT + _heartbeat_type_camera);
tstatus.heartbeat_component_telemetry_radio = (t <= TIMEOUT + _heartbeat_component_telemetry_radio);
tstatus.heartbeat_component_log = (t <= TIMEOUT + _heartbeat_component_log);
tstatus.heartbeat_component_osd = (t <= TIMEOUT + _heartbeat_component_osd);
tstatus.heartbeat_component_obstacle_avoidance = (t <= TIMEOUT + _heartbeat_component_obstacle_avoidance);
tstatus.heartbeat_component_vio = (t <= TIMEOUT + _heartbeat_component_visual_inertial_odometry);
tstatus.heartbeat_component_pairing_manager = (t <= TIMEOUT + _heartbeat_component_pairing_manager);
tstatus.heartbeat_component_udp_bridge = (t <= TIMEOUT + _heartbeat_component_udp_bridge);
tstatus.heartbeat_component_uart_bridge = (t <= TIMEOUT + _heartbeat_component_uart_bridge);
_mavlink->telemetry_status_updated();
_last_heartbeat_check = t;
}
}
void MavlinkReceiver::handle_message_request_event(mavlink_message_t *msg)
{
_mavlink->get_events_protocol().handle_request_event(*msg);
}
void
MavlinkReceiver::handle_message_gimbal_manager_set_manual_control(mavlink_message_t *msg)
{
mavlink_gimbal_manager_set_manual_control_t set_manual_control_msg;
mavlink_msg_gimbal_manager_set_manual_control_decode(msg, &set_manual_control_msg);
gimbal_manager_set_manual_control_s set_manual_control{};
set_manual_control.timestamp = hrt_absolute_time();
set_manual_control.origin_sysid = msg->sysid;
set_manual_control.origin_compid = msg->compid;
set_manual_control.target_system = set_manual_control_msg.target_system;
set_manual_control.target_component = set_manual_control_msg.target_component;
set_manual_control.flags = set_manual_control_msg.flags;
set_manual_control.gimbal_device_id = set_manual_control_msg.gimbal_device_id;
set_manual_control.pitch = set_manual_control_msg.pitch;
set_manual_control.yaw = set_manual_control_msg.yaw;
set_manual_control.pitch_rate = set_manual_control_msg.pitch_rate;
set_manual_control.yaw_rate = set_manual_control_msg.yaw_rate;
_gimbal_manager_set_manual_control_pub.publish(set_manual_control);
}
void
MavlinkReceiver::handle_message_gimbal_manager_set_attitude(mavlink_message_t *msg)
{
mavlink_gimbal_manager_set_attitude_t set_attitude_msg;
mavlink_msg_gimbal_manager_set_attitude_decode(msg, &set_attitude_msg);
gimbal_manager_set_attitude_s gimbal_attitude{};
gimbal_attitude.timestamp = hrt_absolute_time();
gimbal_attitude.origin_sysid = msg->sysid;
gimbal_attitude.origin_compid = msg->compid;
gimbal_attitude.target_system = set_attitude_msg.target_system;
gimbal_attitude.target_component = set_attitude_msg.target_component;
gimbal_attitude.flags = set_attitude_msg.flags;
gimbal_attitude.gimbal_device_id = set_attitude_msg.gimbal_device_id;
matrix::Quatf q(set_attitude_msg.q);
q.copyTo(gimbal_attitude.q);
gimbal_attitude.angular_velocity_x = set_attitude_msg.angular_velocity_x;
gimbal_attitude.angular_velocity_y = set_attitude_msg.angular_velocity_y;
gimbal_attitude.angular_velocity_z = set_attitude_msg.angular_velocity_z;
_gimbal_manager_set_attitude_pub.publish(gimbal_attitude);
}
void
MavlinkReceiver::handle_message_gimbal_device_information(mavlink_message_t *msg)
{
mavlink_gimbal_device_information_t gimbal_device_info_msg;
mavlink_msg_gimbal_device_information_decode(msg, &gimbal_device_info_msg);
gimbal_device_information_s gimbal_information{};
gimbal_information.timestamp = hrt_absolute_time();
static_assert(sizeof(gimbal_information.vendor_name) == sizeof(gimbal_device_info_msg.vendor_name),
"vendor_name length doesn't match");
static_assert(sizeof(gimbal_information.model_name) == sizeof(gimbal_device_info_msg.model_name),
"model_name length doesn't match");
static_assert(sizeof(gimbal_information.custom_name) == sizeof(gimbal_device_info_msg.custom_name),
"custom_name length doesn't match");
memcpy(gimbal_information.vendor_name, gimbal_device_info_msg.vendor_name, sizeof(gimbal_information.vendor_name));
memcpy(gimbal_information.model_name, gimbal_device_info_msg.model_name, sizeof(gimbal_information.model_name));
memcpy(gimbal_information.custom_name, gimbal_device_info_msg.custom_name, sizeof(gimbal_information.custom_name));
gimbal_device_info_msg.vendor_name[sizeof(gimbal_device_info_msg.vendor_name) - 1] = '\0';
gimbal_device_info_msg.model_name[sizeof(gimbal_device_info_msg.model_name) - 1] = '\0';
gimbal_device_info_msg.custom_name[sizeof(gimbal_device_info_msg.custom_name) - 1] = '\0';
gimbal_information.firmware_version = gimbal_device_info_msg.firmware_version;
gimbal_information.hardware_version = gimbal_device_info_msg.hardware_version;
gimbal_information.cap_flags = gimbal_device_info_msg.cap_flags;
gimbal_information.custom_cap_flags = gimbal_device_info_msg.custom_cap_flags;
gimbal_information.uid = gimbal_device_info_msg.uid;
gimbal_information.pitch_max = gimbal_device_info_msg.pitch_max;
gimbal_information.pitch_min = gimbal_device_info_msg.pitch_min;
gimbal_information.yaw_max = gimbal_device_info_msg.yaw_max;
gimbal_information.yaw_min = gimbal_device_info_msg.yaw_min;
gimbal_information.gimbal_device_compid = msg->compid;
_gimbal_device_information_pub.publish(gimbal_information);
}
void
MavlinkReceiver::run()
{
/* set thread name */
{
char thread_name[17];
snprintf(thread_name, sizeof(thread_name), "mavlink_rcv_if%d", _mavlink->get_instance_id());
px4_prctl(PR_SET_NAME, thread_name, px4_getpid());
}
// poll timeout in ms. Also defines the max update frequency of the mission & param manager, etc.
const int timeout = 10;
#if defined(__PX4_POSIX)
/* 1500 is the Wifi MTU, so we make sure to fit a full packet */
uint8_t buf[1600 * 5];
#elif defined(CONFIG_NET)
/* 1500 is the Wifi MTU, so we make sure to fit a full packet */
uint8_t buf[1000];
#else
/* the serial port buffers internally as well, we just need to fit a small chunk */
uint8_t buf[64];
#endif
mavlink_message_t msg;
struct pollfd fds[1] = {};
if (_mavlink->get_protocol() == Protocol::SERIAL) {
fds[0].fd = _mavlink->get_uart_fd();
fds[0].events = POLLIN;
}
#if defined(MAVLINK_UDP)
struct sockaddr_in srcaddr = {};
socklen_t addrlen = sizeof(srcaddr);
if (_mavlink->get_protocol() == Protocol::UDP) {
fds[0].fd = _mavlink->get_socket_fd();
fds[0].events = POLLIN;
}
#endif // MAVLINK_UDP
ssize_t nread = 0;
hrt_abstime last_send_update = 0;
while (!_mavlink->should_exit()) {
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
updateParams();
}
int ret = poll(&fds[0], 1, timeout);
if (ret > 0) {
if (_mavlink->get_protocol() == Protocol::SERIAL) {
/* non-blocking read. read may return negative values */
nread = ::read(fds[0].fd, buf, sizeof(buf));
if (nread == -1 && errno == ENOTCONN) { // Not connected (can happen for USB)
usleep(100000);
}
}
#if defined(MAVLINK_UDP)
else if (_mavlink->get_protocol() == Protocol::UDP) {
if (fds[0].revents & POLLIN) {
nread = recvfrom(_mavlink->get_socket_fd(), buf, sizeof(buf), 0, (struct sockaddr *)&srcaddr, &addrlen);
}
struct sockaddr_in &srcaddr_last = _mavlink->get_client_source_address();
int localhost = (127 << 24) + 1;
if (!_mavlink->get_client_source_initialized()) {
// set the address either if localhost or if 3 seconds have passed
// this ensures that a GCS running on localhost can get a hold of
// the system within the first N seconds
hrt_abstime stime = _mavlink->get_start_time();
if ((stime != 0 && (hrt_elapsed_time(&stime) > 3_s))
|| (srcaddr_last.sin_addr.s_addr == htonl(localhost))) {
srcaddr_last.sin_addr.s_addr = srcaddr.sin_addr.s_addr;
srcaddr_last.sin_port = srcaddr.sin_port;
_mavlink->set_client_source_initialized();
PX4_INFO("partner IP: %s", inet_ntoa(srcaddr.sin_addr));
}
}
}
// only start accepting messages on UDP once we're sure who we talk to
if (_mavlink->get_protocol() != Protocol::UDP || _mavlink->get_client_source_initialized()) {
#endif // MAVLINK_UDP
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &_status)) {
/* check if we received version 2 and request a switch. */
if (!(_mavlink->get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)) {
/* this will only switch to proto version 2 if allowed in settings */
_mavlink->set_proto_version(2);
}
/* handle generic messages and commands */
handle_message(&msg);
/* handle packet with mission manager */
_mission_manager.handle_message(&msg);
/* handle packet with parameter component */
if (_mavlink->boot_complete()) {
// make sure mavlink app has booted before we start processing parameter sync
_parameters_manager.handle_message(&msg);
} else {
if (hrt_elapsed_time(&_mavlink->get_first_start_time()) > 20_s) {
PX4_ERR("system boot did not complete in 20 seconds");
_mavlink->set_boot_complete();
}
}
if (_mavlink->ftp_enabled()) {
/* handle packet with ftp component */
_mavlink_ftp.handle_message(&msg);
}
/* handle packet with log component */
_mavlink_log_handler.handle_message(&msg);
/* handle packet with timesync component */
_mavlink_timesync.handle_message(&msg);
/* handle packet with parent object */
_mavlink->handle_message(&msg);
update_rx_stats(msg);
if (_message_statistics_enabled) {
update_message_statistics(msg);
}
}
}
/* count received bytes (nread will be -1 on read error) */
if (nread > 0) {
_mavlink->count_rxbytes(nread);
telemetry_status_s &tstatus = _mavlink->telemetry_status();
tstatus.rx_message_count = _total_received_counter;
tstatus.rx_message_lost_count = _total_lost_counter;
tstatus.rx_message_lost_rate = static_cast<float>(_total_lost_counter) / static_cast<float>(_total_received_counter);
if (_mavlink_status_last_buffer_overrun != _status.buffer_overrun) {
tstatus.rx_buffer_overruns++;
_mavlink_status_last_buffer_overrun = _status.buffer_overrun;
}
if (_mavlink_status_last_parse_error != _status.parse_error) {
tstatus.rx_parse_errors++;
_mavlink_status_last_parse_error = _status.parse_error;
}
if (_mavlink_status_last_packet_rx_drop_count != _status.packet_rx_drop_count) {
tstatus.rx_packet_drop_count++;
_mavlink_status_last_packet_rx_drop_count = _status.packet_rx_drop_count;
}
}
#if defined(MAVLINK_UDP)
}
#endif // MAVLINK_UDP
} else if (ret == -1) {
usleep(10000);
}
const hrt_abstime t = hrt_absolute_time();
CheckHeartbeats(t);
if (t - last_send_update > timeout * 1000) {
_mission_manager.check_active_mission();
_mission_manager.send();
_parameters_manager.send();
if (_mavlink->ftp_enabled()) {
_mavlink_ftp.send();
}
_mavlink_log_handler.send();
last_send_update = t;
}
if (_tune_publisher != nullptr) {
_tune_publisher->publish_next_tune(t);
}
}
}
bool MavlinkReceiver::component_was_seen(int system_id, int component_id)
{
// For system broadcast messages return true if at least one component was seen before
if (system_id == 0) {
return _component_states_count > 0;
}
for (unsigned i = 0; i < _component_states_count; ++i) {
if (_component_states[i].system_id == system_id
&& (component_id == 0 || _component_states[i].component_id == component_id)) {
return true;
}
}
return false;
}
void MavlinkReceiver::update_rx_stats(const mavlink_message_t &message)
{
const bool component_states_has_still_space = [this, &message]() {
for (unsigned i = 0; i < MAX_REMOTE_COMPONENTS; ++i) {
if (_component_states[i].system_id == message.sysid && _component_states[i].component_id == message.compid) {
int lost_messages = 0;
const uint8_t expected_seq = _component_states[i].last_sequence + 1;
// Account for overflow during packet loss
if (message.seq < expected_seq) {
lost_messages = (message.seq + 255) - expected_seq;
} else {
lost_messages = message.seq - expected_seq;
}
_component_states[i].missed_messages += lost_messages;
++_component_states[i].received_messages;
_component_states[i].last_sequence = message.seq;
// Also update overall stats
++_total_received_counter;
_total_lost_counter += lost_messages;
return true;
} else if (_component_states[i].system_id == 0 && _component_states[i].component_id == 0) {
_component_states[i].system_id = message.sysid;
_component_states[i].component_id = message.compid;
++_component_states[i].received_messages;
_component_states[i].last_sequence = message.seq;
_component_states_count = i + 1;
// Also update overall stats
++_total_received_counter;
return true;
}
}
return false;
}();
if (!component_states_has_still_space && !_warned_component_states_full_once) {
PX4_WARN("Max remote components of %u used up", MAX_REMOTE_COMPONENTS);
_warned_component_states_full_once = true;
}
}
void MavlinkReceiver::update_message_statistics(const mavlink_message_t &message)
{
#if !defined(CONSTRAINED_FLASH)
if (_received_msg_stats == nullptr) {
_received_msg_stats = new ReceivedMessageStats[MAX_MSG_STAT_SLOTS];
}
if (_received_msg_stats) {
const hrt_abstime now_ms = hrt_absolute_time() / 1000;
int msg_stats_slot = -1;
bool reset_stats = false;
// find matching msg id
for (int stat_slot = 0; stat_slot < MAX_MSG_STAT_SLOTS; stat_slot++) {
if ((_received_msg_stats[stat_slot].msg_id == message.msgid)
&& (_received_msg_stats[stat_slot].system_id == message.sysid)
&& (_received_msg_stats[stat_slot].component_id == message.compid)) {
msg_stats_slot = stat_slot;
break;
}
}
// otherwise find oldest or empty slot
if (msg_stats_slot < 0) {
uint32_t oldest_slot_time_ms = 0;
for (int stat_slot = 0; stat_slot < MAX_MSG_STAT_SLOTS; stat_slot++) {
if (_received_msg_stats[stat_slot].last_time_received_ms <= oldest_slot_time_ms) {
oldest_slot_time_ms = _received_msg_stats[stat_slot].last_time_received_ms;
msg_stats_slot = stat_slot;
}
}
reset_stats = true;
}
if (msg_stats_slot >= 0) {
if (!reset_stats) {
if ((_received_msg_stats[msg_stats_slot].last_time_received_ms != 0)
&& (now_ms > _received_msg_stats[msg_stats_slot].last_time_received_ms)) {
float rate = 1000.f / (now_ms - _received_msg_stats[msg_stats_slot].last_time_received_ms);
if (PX4_ISFINITE(_received_msg_stats[msg_stats_slot].avg_rate_hz)) {
_received_msg_stats[msg_stats_slot].avg_rate_hz = 0.9f * _received_msg_stats[msg_stats_slot].avg_rate_hz + 0.1f * rate;
} else {
_received_msg_stats[msg_stats_slot].avg_rate_hz = rate;
}
} else {
_received_msg_stats[msg_stats_slot].avg_rate_hz = 0.f;
}
} else {
_received_msg_stats[msg_stats_slot].avg_rate_hz = NAN;
}
_received_msg_stats[msg_stats_slot].last_time_received_ms = now_ms;
_received_msg_stats[msg_stats_slot].msg_id = message.msgid;
_received_msg_stats[msg_stats_slot].system_id = message.sysid;
_received_msg_stats[msg_stats_slot].component_id = message.compid;
}
}
#endif // !CONSTRAINED_FLASH
}
void MavlinkReceiver::print_detailed_rx_stats() const
{
// TODO: add mutex around shared data.
if (_component_states_count > 0) {
printf("\tReceived Messages:\n");
for (const auto &comp_stat : _component_states) {
if (comp_stat.received_messages > 0) {
printf("\t sysid:%3" PRIu8 ", compid:%3" PRIu8 ", Total: %" PRIu32 " (lost: %" PRIu32 ")\n",
comp_stat.system_id, comp_stat.component_id,
comp_stat.received_messages, comp_stat.missed_messages);
#if !defined(CONSTRAINED_FLASH)
if (_message_statistics_enabled && _received_msg_stats) {
for (int i = 0; i < MAX_MSG_STAT_SLOTS; i++) {
const ReceivedMessageStats &msg_stat = _received_msg_stats[i];
const uint32_t now_ms = hrt_absolute_time() / 1000;
// valid messages received within the last 10 seconds
if ((msg_stat.system_id == comp_stat.system_id)
&& (msg_stat.component_id == comp_stat.component_id)
&& (msg_stat.last_time_received_ms != 0)
&& (now_ms - msg_stat.last_time_received_ms < 10'000)) {
const float elapsed_s = (now_ms - msg_stat.last_time_received_ms) / 1000.f;
printf("\t msgid:%5" PRIu16 ", Rate:%5.1f Hz, last %.2fs ago\n",
msg_stat.msg_id, (double)msg_stat.avg_rate_hz, (double)elapsed_s);
}
}
}
#endif // !CONSTRAINED_FLASH
}
}
}
}
void MavlinkReceiver::start()
{
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
struct sched_param param;
(void)pthread_attr_getschedparam(&receiveloop_attr, &param);
param.sched_priority = SCHED_PRIORITY_MAX - 80;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr,
PX4_STACK_ADJUSTED(sizeof(MavlinkReceiver) + 2840 + MAVLINK_RECEIVER_NET_ADDED_STACK));
pthread_create(&_thread, &receiveloop_attr, MavlinkReceiver::start_trampoline, (void *)this);
pthread_attr_destroy(&receiveloop_attr);
}
void
MavlinkReceiver::updateParams()
{
// update parameters from storage
ModuleParams::updateParams();
if (_handle_sens_flow_maxhgt != PARAM_INVALID) {
param_get(_handle_sens_flow_maxhgt, &_param_sens_flow_maxhgt);
}
if (_handle_sens_flow_maxr != PARAM_INVALID) {
param_get(_handle_sens_flow_maxr, &_param_sens_flow_maxr);
}
if (_handle_sens_flow_minhgt != PARAM_INVALID) {
param_get(_handle_sens_flow_minhgt, &_param_sens_flow_minhgt);
}
if (_handle_sens_flow_rot != PARAM_INVALID) {
param_get(_handle_sens_flow_rot, &_param_sens_flow_rot);
}
}
void *MavlinkReceiver::start_trampoline(void *context)
{
MavlinkReceiver *self = reinterpret_cast<MavlinkReceiver *>(context);
self->run();
return nullptr;
}
void MavlinkReceiver::stop()
{
_should_exit.store(true);
pthread_join(_thread, nullptr);
}