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GCS_Mavlink.cpp
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GCS_Mavlink.cpp
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#include "Copter.h"
#include "GCS_Mavlink.h"
void Copter::gcs_send_heartbeat(void)
{
gcs().send_message(MSG_HEARTBEAT);
}
void Copter::gcs_send_deferred(void)
{
gcs().retry_deferred();
}
/*
* !!NOTE!!
*
* the use of NOINLINE separate functions for each message type avoids
* a compiler bug in gcc that would cause it to use far more stack
* space than is needed. Without the NOINLINE we use the sum of the
* stack needed for each message type. Please be careful to follow the
* pattern below when adding any new messages
*/
MAV_TYPE GCS_MAVLINK_Copter::frame_type() const
{
return copter.get_frame_mav_type();
}
MAV_MODE GCS_MAVLINK_Copter::base_mode() const
{
uint8_t _base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
// work out the base_mode. This value is not very useful
// for APM, but we calculate it as best we can so a generic
// MAVLink enabled ground station can work out something about
// what the MAV is up to. The actual bit values are highly
// ambiguous for most of the APM flight modes. In practice, you
// only get useful information from the custom_mode, which maps to
// the APM flight mode and has a well defined meaning in the
// ArduPlane documentation
switch (copter.control_mode) {
case AUTO:
case RTL:
case LOITER:
case AVOID_ADSB:
case FOLLOW:
case GUIDED:
case CIRCLE:
case POSHOLD:
case BRAKE:
case SMART_RTL:
_base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal
// positions", which APM does not currently do
break;
default:
break;
}
// all modes except INITIALISING have some form of manual
// override if stick mixing is enabled
_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
#if HIL_MODE != HIL_MODE_DISABLED
_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
#endif
// we are armed if we are not initialising
if (copter.motors != nullptr && copter.motors->armed()) {
_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
// indicate we have set a custom mode
_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
return (MAV_MODE)_base_mode;
}
uint32_t GCS_MAVLINK_Copter::custom_mode() const
{
return copter.control_mode;
}
MAV_STATE GCS_MAVLINK_Copter::system_status() const
{
// set system as critical if any failsafe have triggered
if (copter.any_failsafe_triggered()) {
return MAV_STATE_CRITICAL;
}
if (copter.ap.land_complete) {
return MAV_STATE_STANDBY;
}
return MAV_STATE_ACTIVE;
}
void GCS_MAVLINK_Copter::send_position_target_global_int()
{
Location_Class target;
if (!copter.flightmode->get_wp(target)) {
return;
}
mavlink_msg_position_target_global_int_send(
chan,
AP_HAL::millis(), // time_boot_ms
MAV_FRAME_GLOBAL_INT, // targets are always global altitude
0xFFF8, // ignore everything except the x/y/z components
target.lat, // latitude as 1e7
target.lng, // longitude as 1e7
target.alt * 0.01f, // altitude is sent as a float
0.0f, // vx
0.0f, // vy
0.0f, // vz
0.0f, // afx
0.0f, // afy
0.0f, // afz
0.0f, // yaw
0.0f); // yaw_rate
}
#if AC_FENCE == ENABLED
NOINLINE void Copter::send_fence_status(mavlink_channel_t chan)
{
fence_send_mavlink_status(chan);
}
#endif
NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
{
int16_t battery_current = -1;
int8_t battery_remaining = -1;
if (battery.has_current() && battery.healthy()) {
battery_remaining = battery.capacity_remaining_pct();
battery_current = battery.current_amps() * 100;
}
update_sensor_status_flags();
mavlink_msg_sys_status_send(
chan,
control_sensors_present,
control_sensors_enabled,
control_sensors_health,
(uint16_t)(scheduler.load_average() * 1000),
battery.voltage() * 1000, // mV
battery_current, // in 10mA units
battery_remaining, // in %
0, // comm drops %,
0, // comm drops in pkts,
0, 0, 0, 0);
}
void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan)
{
const Vector3f &targets = attitude_control->get_att_target_euler_cd();
mavlink_msg_nav_controller_output_send(
chan,
targets.x * 1.0e-2f,
targets.y * 1.0e-2f,
targets.z * 1.0e-2f,
flightmode->wp_bearing() * 1.0e-2f,
MIN(flightmode->wp_distance() * 1.0e-2f, UINT16_MAX),
pos_control->get_alt_error() * 1.0e-2f,
0,
flightmode->crosstrack_error() * 1.0e-2f);
}
int16_t GCS_MAVLINK_Copter::vfr_hud_throttle() const
{
return (int16_t)(copter.motors->get_throttle() * 100);
}
/*
send RPM packet
*/
void NOINLINE Copter::send_rpm(mavlink_channel_t chan)
{
#if RPM_ENABLED == ENABLED
if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
mavlink_msg_rpm_send(
chan,
rpm_sensor.get_rpm(0),
rpm_sensor.get_rpm(1));
}
#endif
}
/*
send PID tuning message
*/
void Copter::send_pid_tuning(mavlink_channel_t chan)
{
const Vector3f &gyro = ahrs.get_gyro();
if (g.gcs_pid_mask & 1) {
const DataFlash_Class::PID_Info &pid_info = attitude_control->get_rate_roll_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
pid_info.desired*0.01f,
degrees(gyro.x),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 2) {
const DataFlash_Class::PID_Info &pid_info = attitude_control->get_rate_pitch_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
pid_info.desired*0.01f,
degrees(gyro.y),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 4) {
const DataFlash_Class::PID_Info &pid_info = attitude_control->get_rate_yaw_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
pid_info.desired*0.01f,
degrees(gyro.z),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 8) {
const DataFlash_Class::PID_Info &pid_info = copter.pos_control->get_accel_z_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info.desired*0.01f,
-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
uint8_t GCS_MAVLINK_Copter::sysid_my_gcs() const
{
return copter.g.sysid_my_gcs;
}
uint32_t GCS_MAVLINK_Copter::telem_delay() const
{
return (uint32_t)(copter.g.telem_delay);
}
// try to send a message, return false if it wasn't sent
bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
{
if (telemetry_delayed()) {
return false;
}
#if HIL_MODE != HIL_MODE_SENSORS
// if we don't have at least 250 micros remaining before the main loop
// wants to fire then don't send a mavlink message. We want to
// prioritise the main flight control loop over communications
// the check for nullptr here doesn't just save a nullptr
// dereference; it means that we send messages out even if we're
// failing to detect a PX4 board type (see delay(3000) in px_drivers).
if (copter.motors != nullptr && copter.scheduler.time_available_usec() < 250 && copter.motors->armed()) {
gcs().set_out_of_time(true);
return false;
}
#endif
switch(id) {
case MSG_EXTENDED_STATUS1:
// send extended status only once vehicle has been initialised
// to avoid unnecessary errors being reported to user
if (copter.ap.initialised) {
CHECK_PAYLOAD_SIZE(SYS_STATUS);
copter.send_extended_status1(chan);
CHECK_PAYLOAD_SIZE(POWER_STATUS);
send_power_status();
}
break;
case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
copter.send_nav_controller_output(chan);
break;
case MSG_RPM:
#if RPM_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(RPM);
copter.send_rpm(chan);
#endif
break;
case MSG_TERRAIN:
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
copter.terrain.send_request(chan);
#endif
break;
case MSG_FENCE_STATUS:
#if AC_FENCE == ENABLED
CHECK_PAYLOAD_SIZE(FENCE_STATUS);
copter.send_fence_status(chan);
#endif
break;
case MSG_MOUNT_STATUS:
#if MOUNT == ENABLED
CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
copter.camera_mount.status_msg(chan);
#endif // MOUNT == ENABLED
break;
case MSG_OPTICAL_FLOW:
#if OPTFLOW == ENABLED
CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
send_opticalflow(copter.optflow);
#endif
break;
case MSG_GIMBAL_REPORT:
#if MOUNT == ENABLED
CHECK_PAYLOAD_SIZE(GIMBAL_REPORT);
copter.camera_mount.send_gimbal_report(chan);
#endif
break;
case MSG_WIND:
case MSG_SERVO_OUT:
case MSG_AOA_SSA:
case MSG_LANDING:
// unused
break;
case MSG_PID_TUNING:
CHECK_PAYLOAD_SIZE(PID_TUNING);
copter.send_pid_tuning(chan);
break;
case MSG_ADSB_VEHICLE:
#if ADSB_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
copter.adsb.send_adsb_vehicle(chan);
#endif
break;
default:
return GCS_MAVLINK::try_send_message(id);
}
return true;
}
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate
// @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 0),
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
// @Description: Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 0),
// @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station
// @Description: Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 0),
// @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station
// @Description: Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 0),
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
// @Description: Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 0),
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
// @Description: Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 0),
// @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station
// @Description: Stream rate of VFR_HUD to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 0),
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
// @Description: Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 0),
// @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station
// @Description: Stream rate of PARAM_VALUE to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 0),
// @Param: ADSB
// @DisplayName: ADSB stream rate to ground station
// @Description: ADSB stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("ADSB", 9, GCS_MAVLINK, streamRates[9], 5),
AP_GROUPEND
};
static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_RAW_IMU1, // RAW_IMU, SCALED_IMU2, SCALED_IMU3
MSG_RAW_IMU2, // SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3
MSG_RAW_IMU3 // SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS
MSG_EXTENDED_STATUS2, // MEMINFO
MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
MSG_GPS_RAW,
MSG_GPS_RTK,
MSG_GPS2_RAW,
MSG_GPS2_RTK,
MSG_NAV_CONTROLLER_OUTPUT,
MSG_FENCE_STATUS,
MSG_POSITION_TARGET_GLOBAL_INT,
};
static const ap_message STREAM_POSITION_msgs[] = {
MSG_LOCATION,
MSG_LOCAL_POSITION
};
static const ap_message STREAM_RAW_CONTROLLER_msgs[] = {
};
static const ap_message STREAM_RC_CHANNELS_msgs[] = {
MSG_SERVO_OUTPUT_RAW,
MSG_RADIO_IN // RC_CHANNELS_RAW, RC_CHANNELS
};
static const ap_message STREAM_EXTRA1_msgs[] = {
MSG_ATTITUDE,
MSG_SIMSTATE, // SIMSTATE, AHRS2
MSG_PID_TUNING // Up to four PID_TUNING messages are sent, depending on GCS_PID_MASK parameter
};
static const ap_message STREAM_EXTRA2_msgs[] = {
MSG_VFR_HUD
};
static const ap_message STREAM_EXTRA3_msgs[] = {
MSG_AHRS,
MSG_HWSTATUS,
MSG_SYSTEM_TIME,
MSG_RANGEFINDER,
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
MSG_TERRAIN,
#endif
MSG_BATTERY2,
MSG_BATTERY_STATUS,
MSG_MOUNT_STATUS,
MSG_OPTICAL_FLOW,
MSG_GIMBAL_REPORT,
MSG_MAG_CAL_REPORT,
MSG_MAG_CAL_PROGRESS,
MSG_EKF_STATUS_REPORT,
MSG_VIBRATION,
MSG_RPM,
MSG_ESC_TELEMETRY,
};
static const ap_message STREAM_ADSB_msgs[] = {
MSG_ADSB_VEHICLE
};
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),
MAV_STREAM_ENTRY(STREAM_POSITION),
// MAV_STREAM_ENTRY(STREAM_RAW_CONTROLLER),
MAV_STREAM_ENTRY(STREAM_RC_CHANNELS),
MAV_STREAM_ENTRY(STREAM_EXTRA1),
MAV_STREAM_ENTRY(STREAM_EXTRA2),
MAV_STREAM_ENTRY(STREAM_EXTRA3),
MAV_STREAM_ENTRY(STREAM_ADSB),
MAV_STREAM_TERMINATOR // must have this at end of stream_entries
};
bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
{
#if MODE_AUTO_ENABLED == ENABLED
return copter.mode_auto.do_guided(cmd);
#else
return false;
#endif
}
void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
{
// add home alt if needed
if (cmd.content.location.flags.relative_alt) {
cmd.content.location.alt += copter.ahrs.get_home().alt;
}
// To-Do: update target altitude for loiter or waypoint controller depending upon nav mode
}
void GCS_MAVLINK_Copter::packetReceived(const mavlink_status_t &status,
mavlink_message_t &msg)
{
#if ADSB_ENABLED == ENABLED
if (copter.g2.dev_options.get() & DevOptionADSBMAVLink) {
// optional handling of GLOBAL_POSITION_INT as a MAVLink based avoidance source
copter.avoidance_adsb.handle_msg(msg);
}
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
// pass message to follow library
copter.g2.follow.handle_msg(msg);
#endif
GCS_MAVLINK::packetReceived(status, msg);
}
bool GCS_MAVLINK_Copter::params_ready() const
{
if (AP_BoardConfig::in_sensor_config_error()) {
// we may never have parameters "initialised" in this case
return true;
}
// if we have not yet initialised (including allocating the motors
// object) we drop this request. That prevents the GCS from getting
// a confusing parameter count during bootup
return copter.ap.initialised_params;
}
void GCS_MAVLINK_Copter::send_banner()
{
GCS_MAVLINK::send_banner();
send_text(MAV_SEVERITY_INFO, "Frame: %s", copter.get_frame_string());
}
void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t* msg)
{
copter.command_ack_counter++;
GCS_MAVLINK::handle_command_ack(msg);
}
MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param6,1.0f)) {
// compassmot calibration
return copter.mavlink_compassmot(chan);
}
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet)
{
switch(packet.command) {
case MAV_CMD_DO_FOLLOW:
#if MODE_FOLLOW_ENABLED == ENABLED
// param1: sysid of target to follow
if ((packet.param1 > 0) && (packet.param1 <= 255)) {
copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
return MAV_RESULT_ACCEPTED;
}
#endif
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_DO_SET_HOME: {
// assume failure
if (is_equal(packet.param1, 1.0f)) {
// if param1 is 1, use current location
if (!copter.set_home_to_current_location(true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
// ensure param1 is zero
if (!is_zero(packet.param1)) {
return MAV_RESULT_FAILED;
}
// check frame type is supported
if (packet.frame != MAV_FRAME_GLOBAL &&
packet.frame != MAV_FRAME_GLOBAL_INT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
return MAV_RESULT_UNSUPPORTED;
}
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
return MAV_RESULT_FAILED;
}
Location new_home_loc {};
new_home_loc.lat = packet.x;
new_home_loc.lng = packet.y;
new_home_loc.alt = packet.z * 100;
// handle relative altitude
if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
if (!AP::ahrs().home_is_set()) {
// cannot use relative altitude if home is not set
return MAV_RESULT_FAILED;
}
new_home_loc.alt += copter.ahrs.get_home().alt;
}
if (!copter.set_home(new_home_loc, true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
case MAV_CMD_DO_SET_ROI: {
// param1 : /* Region of interest mode (not used)*/
// param2 : /* MISSION index/ target ID (not used)*/
// param3 : /* ROI index (not used)*/
// param4 : /* empty */
// x : lat
// y : lon
// z : alt
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
return MAV_RESULT_FAILED;
}
Location roi_loc;
roi_loc.lat = packet.x;
roi_loc.lng = packet.y;
roi_loc.alt = (int32_t)(packet.z * 100.0f);
copter.flightmode->auto_yaw.set_roi(roi_loc);
return MAV_RESULT_ACCEPTED;
}
default:
return GCS_MAVLINK::handle_command_int_packet(packet);
}
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_long_t &packet)
{
switch(packet.command) {
case MAV_CMD_NAV_TAKEOFF: {
// param3 : horizontal navigation by pilot acceptable
// param4 : yaw angle (not supported)
// param5 : latitude (not supported)
// param6 : longitude (not supported)
// param7 : altitude [metres]
float takeoff_alt = packet.param7 * 100; // Convert m to cm
if (!copter.flightmode->do_user_takeoff(takeoff_alt, is_zero(packet.param3))) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
case MAV_CMD_NAV_LOITER_UNLIM:
if (!copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
if (!copter.set_mode(RTL, MODE_REASON_GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_LAND:
if (!copter.set_mode(LAND, MODE_REASON_GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
#if MODE_FOLLOW_ENABLED == ENABLED
case MAV_CMD_DO_FOLLOW:
// param1: sysid of target to follow
if ((packet.param1 > 0) && (packet.param1 <= 255)) {
copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_CONDITION_YAW:
// param1 : target angle [0-360]
// param2 : speed during change [deg per second]
// param3 : direction (-1:ccw, +1:cw)
// param4 : relative offset (1) or absolute angle (0)
if ((packet.param1 >= 0.0f) &&
(packet.param1 <= 360.0f) &&
(is_zero(packet.param4) || is_equal(packet.param4,1.0f))) {
copter.flightmode->auto_yaw.set_fixed_yaw(
packet.param1,
packet.param2,
(int8_t)packet.param3,
is_positive(packet.param4));
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_CHANGE_SPEED:
// param1 : unused
// param2 : new speed in m/s
// param3 : unused
// param4 : unused
if (packet.param2 > 0.0f) {
copter.wp_nav->set_speed_xy(packet.param2 * 100.0f);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_SET_HOME:
// param1 : use current (1=use current location, 0=use specified location)
// param5 : latitude
// param6 : longitude
// param7 : altitude (absolute)
if (is_equal(packet.param1,1.0f)) {
if (copter.set_home_to_current_location(true)) {
return MAV_RESULT_ACCEPTED;
}
} else {
// ensure param1 is zero
if (!is_zero(packet.param1)) {
return MAV_RESULT_FAILED;
}
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
return MAV_RESULT_FAILED;
}
Location new_home_loc;
new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (copter.set_home(new_home_loc, true)) {
return MAV_RESULT_ACCEPTED;
}
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_SET_ROI:
// param1 : regional of interest mode (not supported)
// param2 : mission index/ target id (not supported)
// param3 : ROI index (not supported)
// param5 : x / lat
// param6 : y / lon
// param7 : z / alt
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
return MAV_RESULT_FAILED;
}
Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
copter.flightmode->auto_yaw.set_roi(roi_loc);
return MAV_RESULT_ACCEPTED;
#if MOUNT == ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
if(!copter.camera_mount.has_pan_control()) {
copter.flightmode->auto_yaw.set_fixed_yaw(
(float)packet.param3 / 100.0f,
0.0f,
0,0);
}
copter.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
return MAV_RESULT_ACCEPTED;
#endif
#if MODE_AUTO_ENABLED == ENABLED
case MAV_CMD_MISSION_START:
if (copter.motors->armed() && copter.set_mode(AUTO, MODE_REASON_GCS_COMMAND)) {
copter.set_auto_armed(true);
if (copter.mission.state() != AP_Mission::MISSION_RUNNING) {
copter.mission.start_or_resume();
}
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) {
// attempt to arm and return success or failure
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
if (copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK, do_arming_checks)) {
return MAV_RESULT_ACCEPTED;
}
} else if (is_zero(packet.param1)) {
if (copter.ap.land_complete || is_equal(packet.param2,magic_force_disarm_value)) {
// force disarming by setting param2 = 21196 is deprecated
copter.init_disarm_motors();
return MAV_RESULT_ACCEPTED;
} else {
return MAV_RESULT_FAILED;
}
} else {
return MAV_RESULT_UNSUPPORTED;
}
return MAV_RESULT_FAILED;
#if AC_FENCE == ENABLED
case MAV_CMD_DO_FENCE_ENABLE:
switch ((uint16_t)packet.param1) {
case 0:
copter.fence.enable(false);
return MAV_RESULT_ACCEPTED;
case 1:
copter.fence.enable(true);
return MAV_RESULT_ACCEPTED;
default:
return MAV_RESULT_FAILED;
}
#endif
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// configure or release parachute
switch ((uint16_t)packet.param1) {
case PARACHUTE_DISABLE:
copter.parachute.enabled(false);
copter.Log_Write_Event(DATA_PARACHUTE_DISABLED);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_ENABLE:
copter.parachute.enabled(true);
copter.Log_Write_Event(DATA_PARACHUTE_ENABLED);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
copter.parachute_manual_release();
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_DO_MOTOR_TEST:
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
// param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds)
// param5 : num_motors (in sequence)
// param6 : compass learning (0: disabled, 1: enabled)
return copter.mavlink_motor_test_start(chan,
(uint8_t)packet.param1,
(uint8_t)packet.param2,
(uint16_t)packet.param3,
packet.param4,
(uint8_t)packet.param5);
#if WINCH_ENABLED == ENABLED
case MAV_CMD_DO_WINCH:
// param1 : winch number (ignored)
// param2 : action (0=relax, 1=relative length control, 2=rate control). See WINCH_ACTIONS enum.
if (!copter.g2.winch.enabled()) {
return MAV_RESULT_FAILED;
}
switch ((uint8_t)packet.param2) {
case WINCH_RELAXED:
copter.g2.winch.relax();
copter.Log_Write_Event(DATA_WINCH_RELAXED);
return MAV_RESULT_ACCEPTED;
case WINCH_RELATIVE_LENGTH_CONTROL: {
copter.g2.winch.release_length(packet.param3, fabsf(packet.param4));
copter.Log_Write_Event(DATA_WINCH_LENGTH_CONTROL);
return MAV_RESULT_ACCEPTED;
}
case WINCH_RATE_CONTROL:
if (fabsf(packet.param4) <= copter.g2.winch.get_rate_max()) {
copter.g2.winch.set_desired_rate(packet.param4);
copter.Log_Write_Event(DATA_WINCH_RATE_CONTROL);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
default:
break;
}
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_AIRFRAME_CONFIGURATION: {
// Param 1: Select which gear, not used in ArduPilot
// Param 2: 0 = Deploy, 1 = Retract
// For safety, anything other than 1 will deploy
switch ((uint8_t)packet.param2) {
case 1:
copter.landinggear.set_position(AP_LandingGear::LandingGear_Retract);
return MAV_RESULT_ACCEPTED;
default:
copter.landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
/* Solo user presses Fly button */
case MAV_CMD_SOLO_BTN_FLY_CLICK: {
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
// set mode to Loiter or fall back to AltHold
if (!copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);
}
return MAV_RESULT_ACCEPTED;
}
/* Solo user holds down Fly button for a couple of seconds */
case MAV_CMD_SOLO_BTN_FLY_HOLD: {
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
if (!copter.motors->armed()) {
// if disarmed, arm motors
copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK);
} else if (copter.ap.land_complete) {
// if armed and landed, takeoff
if (copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
copter.flightmode->do_user_takeoff(packet.param1*100, true);
}
} else {
// if flying, land
copter.set_mode(LAND, MODE_REASON_GCS_COMMAND);
}
return MAV_RESULT_ACCEPTED;
}
/* Solo user presses pause button */
case MAV_CMD_SOLO_BTN_PAUSE_CLICK: {
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
if (copter.motors->armed()) {
if (copter.ap.land_complete) {
// if landed, disarm motors
copter.init_disarm_motors();
} else {
// assume that shots modes are all done in guided.
// NOTE: this may need to change if we add a non-guided shot mode
bool shot_mode = (!is_zero(packet.param1) && (copter.control_mode == GUIDED || copter.control_mode == GUIDED_NOGPS));
if (!shot_mode) {
#if MODE_BRAKE_ENABLED == ENABLED
if (copter.set_mode(BRAKE, MODE_REASON_GCS_COMMAND)) {
copter.mode_brake.timeout_to_loiter_ms(2500);
} else {
copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);