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GCS_Mavlink.pde
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
// this costs us 51 bytes, but means that low priority
// messages don't block the CPU
static mavlink_statustext_t pending_status;
// true when we have received at least 1 MAVLink packet
static bool mavlink_active;
// true if we are out of time in our event timeslice
static bool gcs_out_of_time;
// check if a message will fit in the payload space available
#define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_ ## id ## _LEN) return false
// prototype this for use inside the GCS class
static void gcs_send_text_fmt(const prog_char_t *fmt, ...);
// gcs_check_delay - keep GCS communications going
// in our delay callback
static void gcs_check_delay()
{
static uint32_t last_1hz, last_50hz;
uint32_t tnow = millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs_send_heartbeat();
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_check_input();
gcs_data_stream_send();
gcs_send_deferred();
}
}
static void gcs_send_heartbeat(void)
{
gcs_send_message(MSG_HEARTBEAT);
}
static void gcs_send_deferred(void)
{
gcs_send_message(MSG_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
*/
static NOINLINE void send_heartbeat(mavlink_channel_t chan)
{
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
uint8_t system_status = MAV_STATE_ACTIVE;
uint32_t custom_mode = control_mode;
if (ap.failsafe == true) {
system_status = MAV_STATE_CRITICAL;
}
// 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
base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
switch (control_mode) {
case AUTO:
case RTL:
case LOITER:
case GUIDED:
case CIRCLE:
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;
}
// 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 (motors.armed()) {
base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
// indicate we have set a custom mode
base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
mavlink_msg_heartbeat_send(
chan,
MAV_TYPE_QUADROTOR,
MAV_AUTOPILOT_ARDUPILOTMEGA,
base_mode,
custom_mode,
system_status);
}
static NOINLINE void send_attitude(mavlink_channel_t chan)
{
mavlink_msg_attitude_send(
chan,
millis(),
ahrs.roll,
ahrs.pitch,
ahrs.yaw,
omega.x,
omega.y,
omega.z);
}
#if AP_LIMITS == ENABLED
static NOINLINE void send_limits_status(mavlink_channel_t chan)
{
limits_send_mavlink_status(chan);
}
#endif
static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
{
uint32_t control_sensors_present = 0;
uint32_t control_sensors_enabled;
uint32_t control_sensors_health;
// first what sensors/controllers we have
control_sensors_present |= (1<<0); // 3D gyro present
control_sensors_present |= (1<<1); // 3D accelerometer present
if (g.compass_enabled) {
control_sensors_present |= (1<<2); // compass present
}
control_sensors_present |= (1<<3); // absolute pressure sensor present
if (g_gps != NULL && g_gps->status() == GPS::GPS_OK) {
control_sensors_present |= (1<<5); // GPS present
}
control_sensors_present |= (1<<10); // 3D angular rate control
control_sensors_present |= (1<<11); // attitude stabilisation
control_sensors_present |= (1<<12); // yaw position
control_sensors_present |= (1<<13); // altitude control
control_sensors_present |= (1<<14); // X/Y position control
control_sensors_present |= (1<<15); // motor control
// now what sensors/controllers are enabled
// first the sensors
control_sensors_enabled = control_sensors_present & 0x1FF;
// now the controllers
control_sensors_enabled = control_sensors_present & 0x1FF;
control_sensors_enabled |= (1<<10); // 3D angular rate control
control_sensors_enabled |= (1<<11); // attitude stabilisation
control_sensors_enabled |= (1<<13); // altitude control
control_sensors_enabled |= (1<<15); // motor control
switch (control_mode) {
case AUTO:
case RTL:
case LOITER:
case GUIDED:
case CIRCLE:
case POSITION:
control_sensors_enabled |= (1<<12); // yaw position
control_sensors_enabled |= (1<<14); // X/Y position control
break;
}
// at the moment all sensors/controllers are assumed healthy
control_sensors_health = control_sensors_present;
if (!compass.healthy) {
control_sensors_health &= ~(1<<2); // compass
}
if (!compass.use_for_yaw()) {
control_sensors_enabled &= ~(1<<2); // compass
}
uint16_t battery_current = -1;
uint8_t battery_remaining = -1;
if (current_total1 != 0 && g.pack_capacity != 0) {
battery_remaining = (100.0f * (g.pack_capacity - current_total1) / g.pack_capacity);
}
if (current_total1 != 0) {
battery_current = current_amps1 * 100;
}
if (g.battery_monitoring == 3) {
/*setting a out-of-range value.
* It informs to external devices that
* it cannot be calculated properly just by voltage*/
battery_remaining = 150;
}
mavlink_msg_sys_status_send(
chan,
control_sensors_present,
control_sensors_enabled,
control_sensors_health,
0, // CPU Load not supported in AC yet
battery_voltage1 * 1000, // mV
battery_current, // in 10mA units
battery_remaining, // in %
0, // comm drops %,
0, // comm drops in pkts,
0, 0, 0, 0);
}
static void NOINLINE send_meminfo(mavlink_channel_t chan)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
extern unsigned __brkval;
mavlink_msg_meminfo_send(chan, __brkval, memcheck_available_memory());
#endif
}
static void NOINLINE send_location(mavlink_channel_t chan)
{
uint32_t fix_time;
// if we have a GPS fix, take the time as the last fix time. That
// allows us to correctly calculate velocities and extrapolate
// positions.
// If we don't have a GPS fix then we are dead reckoning, and will
// use the current boot time as the fix time.
if (g_gps->status() == GPS::GPS_OK) {
fix_time = g_gps->last_fix_time;
} else {
fix_time = millis();
}
mavlink_msg_global_position_int_send(
chan,
fix_time,
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
g_gps->altitude * 10, // millimeters above sea level
(current_loc.alt - home.alt) * 10, // millimeters above ground
g_gps->velocity_north() * 100, // X speed cm/s (+ve North)
g_gps->velocity_east() * 100, // Y speed cm/s (+ve East)
g_gps->velocity_down() * -100, // Z speed cm/s (+ve up)
g_gps->ground_course); // course in 1/100 degree
}
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
{
mavlink_msg_nav_controller_output_send(
chan,
nav_roll / 1.0e2f,
nav_pitch / 1.0e2f,
wp_bearing / 1.0e2f,
wp_bearing / 1.0e2f,
wp_distance / 1.0e2f,
altitude_error / 1.0e2f,
0,
crosstrack_error); // was 0
}
static void NOINLINE send_ahrs(mavlink_channel_t chan)
{
Vector3f omega_I = ahrs.get_gyro_drift();
mavlink_msg_ahrs_send(
chan,
omega_I.x,
omega_I.y,
omega_I.z,
1,
0,
ahrs.get_error_rp(),
ahrs.get_error_yaw());
}
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// report simulator state
static void NOINLINE send_simstate(mavlink_channel_t chan)
{
sitl.simstate_send(chan);
}
#endif
static void NOINLINE send_hwstatus(mavlink_channel_t chan)
{
mavlink_msg_hwstatus_send(
chan,
board_voltage(),
hal.i2c->lockup_count());
}
static void NOINLINE send_gps_raw(mavlink_channel_t chan)
{
uint8_t fix = g_gps->status();
if (fix == GPS::GPS_OK) {
fix = 3;
}
mavlink_msg_gps_raw_int_send(
chan,
g_gps->last_fix_time*(uint64_t)1000,
fix,
g_gps->latitude, // in 1E7 degrees
g_gps->longitude, // in 1E7 degrees
g_gps->altitude * 10, // in mm
g_gps->hdop,
65535,
g_gps->ground_speed, // cm/s
g_gps->ground_course, // 1/100 degrees,
g_gps->num_sats);
}
static void NOINLINE send_servo_out(mavlink_channel_t chan)
{
// normalized values scaled to -10000 to 10000
// This is used for HIL. Do not change without discussing with HIL maintainers
#if FRAME_CONFIG == HELI_FRAME
mavlink_msg_rc_channels_scaled_send(
chan,
millis(),
0, // port 0
g.rc_1.servo_out,
g.rc_2.servo_out,
g.rc_3.radio_out,
g.rc_4.servo_out,
0,
0,
0,
0,
receiver_rssi);
#else
#if X_PLANE == ENABLED
/* update by JLN for X-Plane HIL */
if(motors.armed() && motors.auto_armed()) {
mavlink_msg_rc_channels_scaled_send(
chan,
millis(),
0, // port 0
g.rc_1.servo_out,
g.rc_2.servo_out,
10000 * g.rc_3.norm_output(),
g.rc_4.servo_out,
10000 * g.rc_1.norm_output(),
10000 * g.rc_2.norm_output(),
10000 * g.rc_3.norm_output(),
10000 * g.rc_4.norm_output(),
receiver_rssi);
}else{
mavlink_msg_rc_channels_scaled_send(
chan,
millis(),
0, // port 0
0,
0,
-10000,
0,
10000 * g.rc_1.norm_output(),
10000 * g.rc_2.norm_output(),
10000 * g.rc_3.norm_output(),
10000 * g.rc_4.norm_output(),
receiver_rssi);
}
#else
mavlink_msg_rc_channels_scaled_send(
chan,
millis(),
0, // port 0
g.rc_1.servo_out,
g.rc_2.servo_out,
g.rc_3.radio_out,
g.rc_4.servo_out,
10000 * g.rc_1.norm_output(),
10000 * g.rc_2.norm_output(),
10000 * g.rc_3.norm_output(),
10000 * g.rc_4.norm_output(),
receiver_rssi);
#endif
#endif
}
static void NOINLINE send_radio_in(mavlink_channel_t chan)
{
mavlink_msg_rc_channels_raw_send(
chan,
millis(),
0, // port
g.rc_1.radio_in,
g.rc_2.radio_in,
g.rc_3.radio_in,
g.rc_4.radio_in,
g.rc_5.radio_in,
g.rc_6.radio_in,
g.rc_7.radio_in,
g.rc_8.radio_in,
receiver_rssi);
}
static void NOINLINE send_radio_out(mavlink_channel_t chan)
{
mavlink_msg_servo_output_raw_send(
chan,
micros(),
0, // port
motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4],
motors.motor_out[AP_MOTORS_MOT_5],
motors.motor_out[AP_MOTORS_MOT_6],
motors.motor_out[AP_MOTORS_MOT_7],
motors.motor_out[AP_MOTORS_MOT_8]);
}
static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
{
mavlink_msg_vfr_hud_send(
chan,
(float)g_gps->ground_speed / 100.0f,
(float)g_gps->ground_speed / 100.0f,
(ahrs.yaw_sensor / 100) % 360,
g.rc_3.servo_out/10,
current_loc.alt / 100.0f,
climb_rate / 100.0f);
}
static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
{
Vector3f accel = ins.get_accel();
Vector3f gyro = ins.get_gyro();
mavlink_msg_raw_imu_send(
chan,
micros(),
accel.x * 1000.0f / GRAVITY_MSS,
accel.y * 1000.0f / GRAVITY_MSS,
accel.z * 1000.0f / GRAVITY_MSS,
gyro.x * 1000.0f,
gyro.y * 1000.0f,
gyro.z * 1000.0f,
compass.mag_x,
compass.mag_y,
compass.mag_z);
}
static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
{
mavlink_msg_scaled_pressure_send(
chan,
millis(),
(float)barometer.get_pressure()/100.0f,
(float)(barometer.get_pressure() - barometer.get_ground_pressure())/100.0f,
(int)(barometer.get_temperature()*10));
}
static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
{
Vector3f mag_offsets = compass.get_offsets();
Vector3f accel_offsets = ins.get_accel_offsets();
Vector3f gyro_offsets = ins.get_gyro_offsets();
mavlink_msg_sensor_offsets_send(chan,
mag_offsets.x,
mag_offsets.y,
mag_offsets.z,
compass.get_declination(),
barometer.get_raw_pressure(),
barometer.get_raw_temp(),
gyro_offsets.x,
gyro_offsets.y,
gyro_offsets.z,
accel_offsets.x,
accel_offsets.y,
accel_offsets.z);
}
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_mission_current_send(
chan,
(uint16_t)g.command_index);
}
static void NOINLINE send_statustext(mavlink_channel_t chan)
{
mavlink_msg_statustext_send(
chan,
pending_status.severity,
pending_status.text);
}
// are we still delaying telemetry to try to avoid Xbee bricking?
static bool telemetry_delayed(mavlink_channel_t chan)
{
uint32_t tnow = millis() >> 10;
if (tnow > (uint8_t)g.telem_delay) {
return false;
}
#if USB_MUX_PIN > 0
if (chan == MAVLINK_COMM_0 && ap_system.usb_connected) {
// this is an APM2 with USB telemetry
return false;
}
// we're either on the 2nd UART, or no USB cable is connected
// we need to delay telemetry
return true;
#else
if (chan == MAVLINK_COMM_0) {
// we're on the USB port
return false;
}
// don't send telemetry yet
return true;
#endif
}
// try to send a message, return false if it won't fit in the serial tx buffer
static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
{
int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (telemetry_delayed(chan)) {
return false;
}
// if we don't have at least 1ms 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
if (scheduler.time_available_usec() < 800) {
gcs_out_of_time = true;
return false;
}
switch(id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
send_heartbeat(chan);
break;
case MSG_EXTENDED_STATUS1:
CHECK_PAYLOAD_SIZE(SYS_STATUS);
send_extended_status1(chan, packet_drops);
break;
case MSG_EXTENDED_STATUS2:
CHECK_PAYLOAD_SIZE(MEMINFO);
send_meminfo(chan);
break;
case MSG_ATTITUDE:
CHECK_PAYLOAD_SIZE(ATTITUDE);
send_attitude(chan);
break;
case MSG_LOCATION:
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
send_location(chan);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
send_nav_controller_output(chan);
break;
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
send_gps_raw(chan);
break;
case MSG_SERVO_OUT:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
send_servo_out(chan);
break;
case MSG_RADIO_IN:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
send_radio_in(chan);
break;
case MSG_RADIO_OUT:
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
send_radio_out(chan);
break;
case MSG_VFR_HUD:
CHECK_PAYLOAD_SIZE(VFR_HUD);
send_vfr_hud(chan);
break;
case MSG_RAW_IMU1:
CHECK_PAYLOAD_SIZE(RAW_IMU);
send_raw_imu1(chan);
break;
case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
send_raw_imu2(chan);
break;
case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
send_raw_imu3(chan);
break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
send_current_waypoint(chan);
break;
case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_param_send();
} else if (gcs3.initialised) {
gcs3.queued_param_send();
}
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_waypoint_send();
} else {
gcs3.queued_waypoint_send();
}
break;
case MSG_STATUSTEXT:
CHECK_PAYLOAD_SIZE(STATUSTEXT);
send_statustext(chan);
break;
#if AP_LIMITS == ENABLED
case MSG_LIMITS_STATUS:
CHECK_PAYLOAD_SIZE(LIMITS_STATUS);
send_limits_status(chan);
break;
#endif
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs(chan);
break;
case MSG_SIMSTATE:
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
CHECK_PAYLOAD_SIZE(SIMSTATE);
send_simstate(chan);
#endif
break;
case MSG_HWSTATUS:
CHECK_PAYLOAD_SIZE(HWSTATUS);
send_hwstatus(chan);
break;
case MSG_RETRY_DEFERRED:
break; // just here to prevent a warning
}
return true;
}
#define MAX_DEFERRED_MESSAGES MSG_RETRY_DEFERRED
static struct mavlink_queue {
enum ap_message deferred_messages[MAX_DEFERRED_MESSAGES];
uint8_t next_deferred_message;
uint8_t num_deferred_messages;
} mavlink_queue[2];
// send a message using mavlink
static void mavlink_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
{
uint8_t i, nextid;
struct mavlink_queue *q = &mavlink_queue[(uint8_t)chan];
// see if we can send the deferred messages, if any
while (q->num_deferred_messages != 0) {
if (!mavlink_try_send_message(chan,
q->deferred_messages[q->next_deferred_message],
packet_drops)) {
break;
}
q->next_deferred_message++;
if (q->next_deferred_message == MAX_DEFERRED_MESSAGES) {
q->next_deferred_message = 0;
}
q->num_deferred_messages--;
}
if (id == MSG_RETRY_DEFERRED) {
return;
}
// this message id might already be deferred
for (i=0, nextid = q->next_deferred_message; i < q->num_deferred_messages; i++) {
if (q->deferred_messages[nextid] == id) {
// its already deferred, discard
return;
}
nextid++;
if (nextid == MAX_DEFERRED_MESSAGES) {
nextid = 0;
}
}
if (q->num_deferred_messages != 0 ||
!mavlink_try_send_message(chan, id, packet_drops)) {
// can't send it now, so defer it
if (q->num_deferred_messages == MAX_DEFERRED_MESSAGES) {
// the defer buffer is full, discard
return;
}
nextid = q->next_deferred_message + q->num_deferred_messages;
if (nextid >= MAX_DEFERRED_MESSAGES) {
nextid -= MAX_DEFERRED_MESSAGES;
}
q->deferred_messages[nextid] = id;
q->num_deferred_messages++;
}
}
void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char *str)
{
if (telemetry_delayed(chan)) {
return;
}
if (severity == SEVERITY_LOW) {
// send via the deferred queuing system
pending_status.severity = (uint8_t)severity;
strncpy((char *)pending_status.text, str, sizeof(pending_status.text));
mavlink_send_message(chan, MSG_STATUSTEXT, 0);
} else {
// send immediately
mavlink_msg_statustext_send(
chan,
severity,
str);
}
}
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate
// @Description: Raw sensor stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRateRawSensors, 0),
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
// @Description: Extended status stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRateExtendedStatus, 0),
// @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station
// @Description: RC Channel stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRateRCChannels, 0),
// @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station
// @Description: Raw Control stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRateRawController, 0),
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
// @Description: Position stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRatePosition, 0),
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
// @Description: Extra data type 1 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRateExtra1, 0),
// @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station
// @Description: Extra data type 2 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRateExtra2, 0),
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
// @Description: Extra data type 3 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRateExtra3, 0),
// @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station
// @Description: Parameter stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRateParams, 0),
AP_GROUPEND
};
GCS_MAVLINK::GCS_MAVLINK() :
packet_drops(0),
waypoint_send_timeout(1000), // 1 second
waypoint_receive_timeout(1000) // 1 second
{
}
void
GCS_MAVLINK::init(AP_HAL::UARTDriver* port)
{
GCS_Class::init(port);
if (port == hal.uartA) {
mavlink_comm_0_port = port;
chan = MAVLINK_COMM_0;
}else{
mavlink_comm_1_port = port;
chan = MAVLINK_COMM_1;
}
_queued_parameter = NULL;
}
void
GCS_MAVLINK::update(void)
{
// receive new packets
mavlink_message_t msg;
mavlink_status_t status;
status.packet_rx_drop_count = 0;
// process received bytes
uint16_t nbytes = comm_get_available(chan);
for (uint16_t i=0; i<nbytes; i++) {
uint8_t c = comm_receive_ch(chan);
#if CLI_ENABLED == ENABLED
/* allow CLI to be started by hitting enter 3 times, if no
* heartbeat packets have been received */
if (mavlink_active == false) {
if (c == '\n' || c == '\r') {
crlf_count++;
} else {
crlf_count = 0;
}
if (crlf_count == 3) {
run_cli(_port);
}
}
#endif
// Try to get a new message
if (mavlink_parse_char(chan, c, &msg, &status)) {
// we exclude radio packets to make it possible to use the
// CLI over the radio
if (msg.msgid != MAVLINK_MSG_ID_RADIO) {
mavlink_active = true;
}
handleMessage(&msg);
}
}
// Update packet drops counter
packet_drops += status.packet_rx_drop_count;
if (!waypoint_receiving && !waypoint_sending) {
return;
}
uint32_t tnow = millis();
if (waypoint_receiving &&
waypoint_request_i <= (unsigned)g.command_total &&
tnow > waypoint_timelast_request + 500 + (stream_slowdown*20)) {
waypoint_timelast_request = tnow;
send_message(MSG_NEXT_WAYPOINT);
}
// stop waypoint sending if timeout
if (waypoint_sending && (tnow - waypoint_timelast_send) > waypoint_send_timeout) {
waypoint_sending = false;
}
// stop waypoint receiving if timeout
if (waypoint_receiving && (tnow - waypoint_timelast_receive) > waypoint_receive_timeout) {
waypoint_receiving = false;
}
}
// see if we should send a stream now. Called at 50Hz
bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
{
uint8_t rate;
switch (stream_num) {
case STREAM_RAW_SENSORS:
rate = streamRateRawSensors.get();
break;
case STREAM_EXTENDED_STATUS:
rate = streamRateExtendedStatus.get();
break;
case STREAM_RC_CHANNELS:
rate = streamRateRCChannels.get();
break;
case STREAM_RAW_CONTROLLER:
rate = streamRateRawController.get();
break;
case STREAM_POSITION:
rate = streamRatePosition.get();
break;
case STREAM_EXTRA1:
rate = streamRateExtra1.get();
break;
case STREAM_EXTRA2:
rate = streamRateExtra2.get();
break;
case STREAM_EXTRA3:
rate = streamRateExtra3.get();
break;
case STREAM_PARAMS:
rate = streamRateParams.get();
break;
default:
rate = 0;
}
if (rate == 0) {
return false;
}
if (stream_ticks[stream_num] == 0) {
// we're triggering now, setup the next trigger point
if (rate > 50) {
rate = 50;
}
stream_ticks[stream_num] = (50 / rate) + stream_slowdown;
return true;
}
// count down at 50Hz
stream_ticks[stream_num]--;
return false;
}
void
GCS_MAVLINK::data_stream_send(void)
{
if (waypoint_receiving || waypoint_sending) {
// don't interfere with mission transfer
return;