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autopilot_interface.cpp
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/****************************************************************************
*
* Copyright (c) 2014 MAVlink Development Team. All rights reserved.
* Author: Trent Lukaczyk, <aerialhedgehog@gmail.com>
* Jaycee Lock, <jaycee.lock@gmail.com>
* Lorenz Meier, <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file autopilot_interface.cpp
*
* @brief Autopilot interface functions
*
* Functions for sending and recieving commands to an autopilot via MAVlink
*
* @author Trent Lukaczyk, <aerialhedgehog@gmail.com>
* @author Jaycee Lock, <jaycee.lock@gmail.com>
* @author Lorenz Meier, <lm@inf.ethz.ch>
*
*/
// ------------------------------------------------------------------------------
// Includes
// ------------------------------------------------------------------------------
#include <thread>
#include <iostream>
#include "autopilot_interface.h"
using namespace std;
// ----------------------------------------------------------------------------------
// Time
// ------------------- ---------------------------------------------------------------
uint64_t get_time_msec()
{
#ifdef WIN32
#include <windows.h>
SYSTEMTIME _time_stamp;
GetLocalTime(&_time_stamp);
return _time_stamp.wHour * 3600 * 1000 + _time_stamp.wMinute * 60 * 1000 +
_time_stamp.wSecond * 1000 + _time_stamp.wMilliseconds;
#else
#include <sys/time.h>
static struct timeval _time_stamp;
gettimeofday(&_time_stamp, NULL);
return _time_stamp.tv_sec * 1000 + _time_stamp.tv_usec / 1000;
#endif
}
// ----------------------------------------------------------------------------------
// Setpoint Helper Functions
// ----------------------------------------------------------------------------------
// choose one of the next three
/*
* Set target local ned position
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target XYZ locations
* in the Local NED frame, in meters.
*/
void set_position(float x, float y, float z, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_POSITION;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.x = x;
sp.y = y;
sp.z = z;
printf("POSITION SETPOINT XYZ = [ %.4f , %.4f , %.4f ] \n", sp.x, sp.y, sp.z);
}
/*
* Set target local ned velocity
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target VX VY VZ
* velocities in the Local NED frame, in meters per second.
*/
void set_velocity(float vx, float vy, float vz, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_VELOCITY;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.vx = vx;
sp.vy = vy;
sp.vz = vz;
//printf("VELOCITY SETPOINT UVW = [ %.4f , %.4f , %.4f ] \n", sp.vx, sp.vy, sp.vz);
}
/*
* Set target local ned acceleration
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target AX AY AZ
* accelerations in the Local NED frame, in meters per second squared.
*/
void set_acceleration(float ax, float ay, float az, mavlink_set_position_target_local_ned_t &sp)
{
// NOT IMPLEMENTED
fprintf(stderr, "set_acceleration doesn't work yet \n");
throw 1;
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_ACCELERATION &
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_VELOCITY;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.afx = ax;
sp.afy = ay;
sp.afz = az;
}
// the next two need to be called after one of the above
/*
* Set target local ned yaw
*
* Modifies a mavlink_set_position_target_local_ned_t struct with a target yaw
* in the Local NED frame, in radians.
*/
void set_yaw(float yaw, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask &=
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_YAW_ANGLE;
sp.yaw = yaw;
printf("POSITION SETPOINT YAW = %.4f \n", sp.yaw);
}
/*
* Set target local ned yaw rate
*
* Modifies a mavlink_set_position_target_local_ned_t struct with a target yaw rate
* in the Local NED frame, in radians per second.
*/
void set_yaw_rate(float yaw_rate, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask &=
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_YAW_RATE;
sp.yaw_rate = yaw_rate;
}
// ----------------------------------------------------------------------------------
// Autopilot Interface Class
// ----------------------------------------------------------------------------------
// ------------------------------------------------------------------------------
// Con/De structors
// ------------------------------------------------------------------------------
Autopilot_Interface::Autopilot_Interface(Serial_Port *serial_port_)
{
// initialize attributes
write_count = 0;
reading_status = 0; // whether the read thread is running
writing_status = 0; // whether the write thread is running
control_status = 0; // whether the autopilot is in offboard control mode
time_to_exit = false; // flag to signal thread exit
read_tid = 0; // read thread id
write_tid = 0; // write thread id
system_id = 0; // system id
autopilot_id = 0; // autopilot component id
companion_id = 0; // companion computer component id
current_messages.sysid = system_id;
current_messages.compid = autopilot_id;
serial_port = serial_port_; // serial port management object
}
Autopilot_Interface::~Autopilot_Interface()
{
}
// ------------------------------------------------------------------------------
// Update Setpoint
// ------------------------------------------------------------------------------
void Autopilot_Interface::update_setpoint(mavlink_set_position_target_local_ned_t setpoint)
{
current_setpoint = setpoint;
}
// ------------------------------------------------------------------------------
// Read Messages
// ------------------------------------------------------------------------------
void Autopilot_Interface::read_messages()
{
bool success; // receive success flag
bool received_all = false; // receive only one message
Time_Stamps this_timestamps;
// Blocking wait for new data
while (!received_all and !time_to_exit)
{
// ----------------------------------------------------------------------
// READ MESSAGE
// ----------------------------------------------------------------------
mavlink_message_t message;
success = serial_port->read_message(message);
// ----------------------------------------------------------------------
// HANDLE MESSAGE
// ----------------------------------------------------------------------
if (success)
{
// Store message sysid and compid.
// Note this doesn't handle multiple message sources.
current_messages.sysid = message.sysid;
current_messages.compid = message.compid;
// Handle Message ID
switch (message.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
{
// cout << "MAVLINK_MSG_ID_HEARTBEAT" << endl;
mavlink_msg_heartbeat_decode(&message, &(current_messages.heartbeat));
current_messages.time_stamps.heartbeat = get_time_msec();
// printf("timestamp:%d\n", current_messages.time_stamps.heartbeat);
this_timestamps.heartbeat = current_messages.time_stamps.heartbeat;
// printf("type:%d, autopilot:%d, base_mode:%d, custom_mode:%D, system_status:%d, mavlink_version:%d \n",
// current_messages.heartbeat.type, current_messages.heartbeat.autopilot,
// current_messages.heartbeat.base_mode, current_messages.heartbeat.custom_mode,
// current_messages.heartbeat.system_status, current_messages.heartbeat.mavlink_version);
// cout << "type:" << current_messages.heartbeat.type << "autopilot:" <<
// current_messages.heartbeat.autopilot << "base_mode:" << current_messages.heartbeat.base_mode <<
// "custom_mode:" << current_messages.heartbeat.custom_mode << "system_status:" <<
// current_messages.heartbeat.system_status << "mavlink_version:" <<
// current_messages.heartbeat.mavlink_version << endl;
break;
}
case MAVLINK_MSG_ID_SYS_STATUS:
{
//printf("MAVLINK_MSG_ID_SYS_STATUS\n");
mavlink_msg_sys_status_decode(&message, &(current_messages.sys_status));
current_messages.time_stamps.sys_status = get_time_msec();
this_timestamps.sys_status = current_messages.time_stamps.sys_status;
break;
}
case MAVLINK_MSG_ID_BATTERY_STATUS:
{
//printf("MAVLINK_MSG_ID_BATTERY_STATUS\n");
mavlink_msg_battery_status_decode(&message, &(current_messages.battery_status));
current_messages.time_stamps.battery_status = get_time_msec();
this_timestamps.battery_status = current_messages.time_stamps.battery_status;
break;
}
case MAVLINK_MSG_ID_RADIO_STATUS:
{
//printf("MAVLINK_MSG_ID_RADIO_STATUS\n");
mavlink_msg_radio_status_decode(&message, &(current_messages.radio_status));
current_messages.time_stamps.radio_status = get_time_msec();
this_timestamps.radio_status = current_messages.time_stamps.radio_status;
break;
}
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
{
//printf("MAVLINK_MSG_ID_LOCAL_POSITION_NED\n");
mavlink_msg_local_position_ned_decode(&message, &(current_messages.local_position_ned));
current_messages.time_stamps.local_position_ned = get_time_msec();
this_timestamps.local_position_ned = current_messages.time_stamps.local_position_ned;
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
//printf("MAVLINK_MSG_ID_GLOBAL_POSITION_INT\n");
mavlink_msg_global_position_int_decode(&message, &(current_messages.global_position_int));
current_messages.time_stamps.global_position_int = get_time_msec();
this_timestamps.global_position_int = current_messages.time_stamps.global_position_int;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
{
//printf("MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED\n");
mavlink_msg_position_target_local_ned_decode(&message, &(current_messages.position_target_local_ned));
current_messages.time_stamps.position_target_local_ned = get_time_msec();
this_timestamps.position_target_local_ned = current_messages.time_stamps.position_target_local_ned;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT:
{
//printf("MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT\n");
mavlink_msg_position_target_global_int_decode(&message, &(current_messages.position_target_global_int));
current_messages.time_stamps.position_target_global_int = get_time_msec();
this_timestamps.position_target_global_int = current_messages.time_stamps.position_target_global_int;
break;
}
case MAVLINK_MSG_ID_HIGHRES_IMU:
{
//printf("MAVLINK_MSG_ID_HIGHRES_IMU\n");
mavlink_msg_highres_imu_decode(&message, &(current_messages.highres_imu));
current_messages.time_stamps.highres_imu = get_time_msec();
this_timestamps.highres_imu = current_messages.time_stamps.highres_imu;
break;
}
case MAVLINK_MSG_ID_ATTITUDE:
{
//printf("MAVLINK_MSG_ID_ATTITUDE\n");
mavlink_msg_attitude_decode(&message, &(current_messages.attitude));
current_messages.time_stamps.attitude = get_time_msec();
this_timestamps.attitude = current_messages.time_stamps.attitude;
break;
}
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
{
//printf("MAVLINK_MSG_ID_SERVO_OUTPUT_RAW\n");
mavlink_msg_servo_output_raw_decode(&message, &(current_messages.servo_output_raw));
current_messages.time_stamps.servo_output_raw = get_time_msec();
this_timestamps.servo_output_raw = current_messages.time_stamps.servo_output_raw;
break;
}
case MAVLINK_MSG_ID_COMMAND_ACK:
{
//printf("MAVLINK_MSG_ID_COMMAND_ACK\n");
mavlink_msg_command_ack_decode(&message, &(current_messages.command_ack));
current_messages.time_stamps.command_ack = get_time_msec();
this_timestamps.command_ack = current_messages.time_stamps.command_ack;
printf("Command_ACK, command:%d, result:%d. \n", current_messages.command_ack.command,
current_messages.command_ack.result);
break;
}
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
{
//printf("MAVLINK_MSG_ID_NAMED_VALUE_FLOA\n");
mavlink_msg_named_value_float_decode(&message, &(current_messages.named_value_float));
current_messages.time_stamps.named_value_float = get_time_msec();
this_timestamps.named_value_float = current_messages.time_stamps.named_value_float;
// printf(current_messages.named_value_float.name);
// printf(": %f \n", current_messages.named_value_float.value);
break;
}
case MAVLINK_MSG_ID_VFR_HUD:
{
// printf("MAVLINK_MSG_ID_VFR_HUD\n");
mavlink_msg_vfr_hud_decode(&message, &(current_messages.vfr_hud));
current_messages.time_stamps.vfr_hud = get_time_msec();
this_timestamps.vfr_hud = current_messages.time_stamps.vfr_hud;
// printf("heading:%d\n", current_messages.vfr_hud.heading);
break;
}
case MAVLINK_MSG_ID_POWER_STATUS:
{
// printf("MAVLINK_MSG_ID_POWER_STATUS\n");
mavlink_msg_power_status_decode(&message, &(current_messages.power_status));
current_messages.time_stamps.power_status = get_time_msec();
this_timestamps.power_status = current_messages.time_stamps.power_status;
// printf("Vcc(5V rail voltage in mV):%d, Vservo(servo rail voltage in mV):%d, "
// "power supply status flags:%d.\n", current_messages.power_status.Vcc,
// current_messages.power_status.Vservo, current_messages.power_status.flags);
break;
}
case MAVLINK_MSG_ID_SYSTEM_TIME:
{
// printf("MAVLINK_MSG_ID_SYSTEM_TIME\n");
mavlink_msg_system_time_decode(&message, &(current_messages.system_time));
current_messages.time_stamps.system_time = get_time_msec();
this_timestamps.system_time = current_messages.time_stamps.system_time;
break;
}
case MAVLINK_MSG_ID_MISSION_CURRENT:
{
// printf("MAVLINK_MSG_ID_MISSION_CURRENT\n");
mavlink_msg_mission_current_decode(&message, &(current_messages.mission_current));
current_messages.time_stamps.mission_current = get_time_msec();
this_timestamps.mission_current = current_messages.time_stamps.mission_current;
break;
}
case MAVLINK_MSG_ID_GPS_RAW_INT:
{
// printf("MAVLINK_MSG_ID_GPS_RAW_INT\n");
mavlink_msg_gps_raw_int_decode(&message, &(current_messages.gps_raw_int));
current_messages.time_stamps.gps_raw_int = get_time_msec();
this_timestamps.gps_raw_int = current_messages.time_stamps.gps_raw_int;
break;
}
case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
{
// printf("MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT\n");
mavlink_msg_nav_controller_output_decode(&message, &(current_messages.nav_controller_output));
current_messages.time_stamps.nav_controller_output = get_time_msec();
this_timestamps.nav_controller_output = current_messages.time_stamps.nav_controller_output;
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS:
{
// printf("MAVLINK_MSG_ID_RC_CHANNELS\n");
mavlink_msg_rc_channels_decode(&message, &(current_messages.rc_channels));
current_messages.time_stamps.rc_channels = get_time_msec();
this_timestamps.rc_channels = current_messages.time_stamps.rc_channels;
break;
}
case MAVLINK_MSG_ID_VIBRATION:
{
// printf("MAVLINK_MSG_ID_VIBRATION\n");
mavlink_msg_vibration_decode(&message, &(current_messages.vibration));
current_messages.time_stamps.vibration = get_time_msec();
this_timestamps.vibration = current_messages.time_stamps.vibration;
break;
}
case MAVLINK_MSG_ID_RAW_IMU:
{
// printf("MAVLINK_MSG_ID_RAW_IMU\n");
mavlink_msg_raw_imu_decode(&message, &(current_messages.raw_imu));
current_messages.time_stamps.raw_imu = get_time_msec();
this_timestamps.raw_imu = current_messages.time_stamps.raw_imu;
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE:
{
// printf("MAVLINK_MSG_ID_SCALED_PRESSURE\n");
mavlink_msg_scaled_pressure_decode(&message, &(current_messages.scaled_pressure));
current_messages.time_stamps.scaled_pressure = get_time_msec();
this_timestamps.scaled_pressure = current_messages.time_stamps.scaled_pressure;
break;
}
case MAVLINK_MSG_ID_SCALED_IMU2:
{
// printf("MAVLINK_MSG_ID_SCALED_IMU2\n");
mavlink_msg_scaled_imu2_decode(&message, &(current_messages.scaled_imu2));
current_messages.time_stamps.scaled_imu2 = get_time_msec();
this_timestamps.scaled_imu2 = current_messages.time_stamps.scaled_imu2;
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE2:
{
// printf("MAVLINK_MSG_ID_SCALED_PRESSURE2\n");
mavlink_msg_scaled_pressure2_decode(&message, &(current_messages.scaled_pressure2));
current_messages.time_stamps.scaled_pressure2 = get_time_msec();
this_timestamps.scaled_pressure2 = current_messages.time_stamps.scaled_pressure2;
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
{
// printf("MAVLINK_MSG_ID_RC_CHANNELS_RAW\n");
mavlink_msg_rc_channels_raw_decode(&message, &(current_messages.rc_channels_raw));
current_messages.time_stamps.rc_channels_raw = get_time_msec();
this_timestamps.scaled_pressure2 = current_messages.time_stamps.rc_channels_raw;
break;
}
case MAVLINK_MSG_ID_STATUSTEXT:
{
cout << "MAVLINK_MSG_ID_STATUSTEXT" << endl;
mavlink_msg_statustext_decode(&message, &(current_messages.statustext));
current_messages.time_stamps.statustext = get_time_msec();
this_timestamps.statustext = current_messages.time_stamps.statustext;
cout << "severity:" << current_messages.statustext.severity << ",text:" << current_messages.statustext.text << endl;
// printf("severity:%d", current_messages.statustext.severity);
// printf(current_messages.statustext.text);
// printf("\n");
break;
}
case MAVLINK_MSG_ID_PARAM_VALUE:
{
cout << "MAVLINK_MSG_ID_PARAM_VALUE" << endl;
mavlink_msg_param_value_decode(&message, &(current_messages.param_value));
current_messages.time_stamps.param_value = get_time_msec();
this_timestamps.param_value = current_messages.time_stamps.param_value;
cout << "param_id:" << current_messages.param_value.param_id << ", param_value:" << current_messages.param_value.param_value << ", param_type:" << current_messages.param_value.param_type << ", param_count:" << current_messages.param_value.param_count << ", param_index:" << current_messages.param_value.param_index << endl;
break;
}
default:
{
printf("Warning, did not handle message id %i\n", message.msgid);
break;
}
} // end: switch msgid
} // end: if read message
// Check for receipt of all items
received_all =
this_timestamps.heartbeat &&
// this_timestamps.battery_status &&
// this_timestamps.radio_status &&
// this_timestamps.local_position_ned &&
// this_timestamps.global_position_int &&
// this_timestamps.position_target_local_ned &&
// this_timestamps.position_target_global_int &&
// this_timestamps.highres_imu &&
// this_timestamps.attitude &&
this_timestamps.sys_status;
// give the write thread time to use the port
if (writing_status > false)
{
usleep(100); // look for components of batches at 10kHz
}
} // end: while not received all
return;
}
// ------------------------------------------------------------------------------
// Write Message
// ------------------------------------------------------------------------------
int Autopilot_Interface::write_message(mavlink_message_t message)
{
// do the write
int len = serial_port->write_message(message);
// book keep
write_count++;
// Done!
return len;
}
// ------------------------------------------------------------------------------
// Write Setpoint Message
// ------------------------------------------------------------------------------
void Autopilot_Interface::write_setpoint()
{
// --------------------------------------------------------------------------
// PACK PAYLOAD
// --------------------------------------------------------------------------
// pull from position target
mavlink_set_position_target_local_ned_t sp = current_setpoint;
// double check some system parameters
if (not sp.time_boot_ms)
sp.time_boot_ms = (uint32_t)get_time_msec();
sp.target_system = system_id;
sp.target_component = autopilot_id;
// --------------------------------------------------------------------------
// ENCODE
// --------------------------------------------------------------------------
mavlink_message_t message;
mavlink_msg_set_position_target_local_ned_encode(system_id, companion_id, &message, &sp);
// --------------------------------------------------------------------------
// WRITE
// --------------------------------------------------------------------------
// do the write
int len = write_message(message);
// check the write
if (len <= 0)
// fprintf(stderr, "WARNING: could not send POSITION_TARGET_LOCAL_NED \n");
cout << "WARNING: could not send POSITION_TARGET_LOCAL_NED" << endl;
// else
// printf("%lu POSITION_TARGET = [ %f , %f , %f ] \n", write_count, position_target.x, position_target.y, position_target.z);
return;
}
// ------------------------------------------------------------------------------
// Write Setpoint Message
// ------------------------------------------------------------------------------
void Autopilot_Interface::write_heartbeat(mavlink_heartbeat_t hb)
{
// --------------------------------------------------------------------------
// PACK PAYLOAD
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// ENCODE
// --------------------------------------------------------------------------
mavlink_message_t message;
mavlink_msg_heartbeat_encode(system_id, companion_id, &message, &hb);
// --------------------------------------------------------------------------
// WRITE
// --------------------------------------------------------------------------
// do the write
int len = write_message(message);
// cout << "heartbeat msg wrote!" << endl;
// check the write
if (len <= 0)
// fprintf(stderr, "WARNING: could not send heartbeat \n");
cout << "WARNING: could not send heartbeat" << endl;
// else
// printf("%lu POSITION_TARGET = [ %f , %f , %f ] \n", write_count, position_target.x, position_target.y, position_target.z);
return;
}
// ------------------------------------------------------------------------------
// Write Setpoint Message
// ------------------------------------------------------------------------------
void Autopilot_Interface::do_set_servo(float servo_no, float pwm)
{
// --------------------------------------------------------------------------
// PACK PAYLOAD
// --------------------------------------------------------------------------
mavlink_command_long_t cmd_long;
cmd_long.target_system = system_id;
cmd_long.target_component = companion_id;
cmd_long.command = MAV_CMD_DO_SET_SERVO;
cmd_long.confirmation = 0;
cmd_long.param1 = servo_no;
cmd_long.param2 = pwm;
// --------------------------------------------------------------------------
// ENCODE
// --------------------------------------------------------------------------
mavlink_message_t message;
mavlink_msg_command_long_encode(system_id, companion_id, &message, &cmd_long);
// --------------------------------------------------------------------------
// WRITE
// --------------------------------------------------------------------------
// do the write
int len = write_message(message);
cout << "do_set_servo msg wrote!" << endl;
// check the write
if (len <= 0)
// fprintf(stderr, "WARNING: could not send heartbeat \n");
cout << "WARNING: could not send heartbeat" << endl;
// else
//
}
// ------------------------------------------------------------------------------
// Write Setpoint Message
// ------------------------------------------------------------------------------
void Autopilot_Interface::do_motor_test(float motor_no, float pwm)
{
// --------------------------------------------------------------------------
// PACK PAYLOAD
// --------------------------------------------------------------------------
mavlink_command_long_t cmd_long;
cmd_long.target_system = system_id;
cmd_long.target_component = companion_id;
cmd_long.command = MAV_CMD_DO_MOTOR_TEST;
cmd_long.confirmation = 0;
cmd_long.param1 = motor_no - 1;
cmd_long.param2 = MOTOR_TEST_THROTTLE_PWM;
cmd_long.param3 = pwm;
cmd_long.param4 = 1;
cmd_long.param5 = 1;
cmd_long.param6 = MOTOR_TEST_ORDER_DEFAULT;
// --------------------------------------------------------------------------
// ENCODE
// --------------------------------------------------------------------------
mavlink_message_t message;
mavlink_msg_command_long_encode(system_id, companion_id, &message, &cmd_long);
// --------------------------------------------------------------------------
// WRITE
// --------------------------------------------------------------------------
// do the write
int len = write_message(message);
cout << "do_motor_test msg wrote!" << endl;
// check the write
if (len <= 0)
// fprintf(stderr, "WARNING: could not send heartbeat \n");
cout << "WARNING: could not send heartbeat" << endl;
// else
//
}
void Autopilot_Interface::request_param_list(void)
{
// --------------------------------------------------------------------------
// PACK PAYLOAD
// --------------------------------------------------------------------------
mavlink_param_ext_request_list_t param_list;
param_list.target_system = system_id;
param_list.target_component = companion_id;
// --------------------------------------------------------------------------
// ENCODE
// --------------------------------------------------------------------------
mavlink_message_t message;
mavlink_msg_param_ext_request_list_encode(system_id, companion_id, &message, ¶m_list);
// --------------------------------------------------------------------------
// WRITE
// --------------------------------------------------------------------------
// do the write
int len = write_message(message);
cout << "request_param_list msg wrote!" << endl;
// check the write
if (len <= 0)
// fprintf(stderr, "WARNING: could not send heartbeat \n");
cout << "WARNING: could not send heartbeat" << endl;
// else
//
}
// ------------------------------------------------------------------------------
// Start Off-Board Mode
// ------------------------------------------------------------------------------
void Autopilot_Interface::enable_offboard_control()
{
// Should only send this command once
if (control_status == false)
{
printf("ENABLE OFFBOARD MODE\n");
// ----------------------------------------------------------------------
// TOGGLE OFF-BOARD MODE
// ----------------------------------------------------------------------
// Sends the command to go off-board
int success = toggle_offboard_control(true);
// Check the command was written
if (success)
control_status = true;
else
{
fprintf(stderr, "Error: off-board mode not set, could not write message\n");
//throw EXIT_FAILURE;
}
printf("\n");
} // end: if not offboard_status
}
// ------------------------------------------------------------------------------
// Stop Off-Board Mode
// ------------------------------------------------------------------------------
void Autopilot_Interface::disable_offboard_control()
{
// Should only send this command once
if (control_status == true)
{
printf("DISABLE OFFBOARD MODE\n");
// ----------------------------------------------------------------------
// TOGGLE OFF-BOARD MODE
// ----------------------------------------------------------------------
// Sends the command to stop off-board
int success = toggle_offboard_control(false);
// Check the command was written
if (success)
control_status = false;
else
{
fprintf(stderr, "Error: off-board mode not set, could not write message\n");
//throw EXIT_FAILURE;
}
printf("\n");
} // end: if offboard_status
}
// ------------------------------------------------------------------------------
// Toggle Off-Board Mode
// ------------------------------------------------------------------------------
int Autopilot_Interface::toggle_offboard_control(bool flag)
{
// Prepare command for off-board mode
mavlink_command_long_t com = {0};
com.target_system = system_id;
com.target_component = autopilot_id;
com.command = MAV_CMD_NAV_GUIDED_ENABLE;
com.confirmation = true;
com.param1 = (float)flag; // flag >0.5 => start, <0.5 => stop
// Encode
mavlink_message_t message;
mavlink_msg_command_long_encode(system_id, companion_id, &message, &com);
// Send the message
int len = serial_port->write_message(message);
// Done!
return len;
}
// ------------------------------------------------------------------------------
// ARM the vehicle
// ------------------------------------------------------------------------------
void Autopilot_Interface::vehicle_arm()
{
// Prepare command for off-board mode
mavlink_command_long_t cmd = {0};
cmd.target_system = system_id;
cmd.target_component = autopilot_id;
cmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
cmd.confirmation = 0;
cmd.param1 = 1.0;
// Encode
mavlink_message_t message;
mavlink_msg_command_long_encode(system_id, companion_id, &message, &cmd);
// Send the message
int len = serial_port->write_message(message);
if (0 > len)
{
//
}
}
// ------------------------------------------------------------------------------
// DISARM the vehicle
// ------------------------------------------------------------------------------
void Autopilot_Interface::vehicle_disarm()
{
// Prepare command for off-board mode
mavlink_command_long_t cmd = {0};
cmd.target_system = system_id;
cmd.target_component = autopilot_id;
cmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
cmd.confirmation = 0;
cmd.param1 = 0;
// Encode
mavlink_message_t message;
mavlink_msg_command_long_encode(system_id, companion_id, &message, &cmd);
// Send the message
int len = serial_port->write_message(message);
if (0 > len)
{
//
}
}
// ------------------------------------------------------------------------------
// STARTUP
// ------------------------------------------------------------------------------
void Autopilot_Interface::start()
{
int result;
// --------------------------------------------------------------------------
// CHECK SERIAL PORT
// --------------------------------------------------------------------------
if (serial_port->status != 1) // SERIAL_PORT_OPEN
{
fprintf(stderr, "ERROR: serial port not open\n");
throw 1;
}
// --------------------------------------------------------------------------
// READ THREAD
// --------------------------------------------------------------------------
cout << "START READ THREAD." << endl;
std::thread autopilot_interface_read_thread(&Autopilot_Interface::start_read_thread, this);
autopilot_interface_read_thread.detach();
// result = pthread_create(&read_tid, NULL, &start_autopilot_interface_read_thread, this);
// if (result)
// throw result;
// now we're reading messages
cout << endl;
// --------------------------------------------------------------------------
// CHECK FOR MESSAGES
// --------------------------------------------------------------------------
cout << "CHECK FOR MESSAGES." << endl;
while (not current_messages.sysid)
{
if (time_to_exit)
return;
usleep(500000); // check at 2Hz
}
cout << "Found!" << endl;
// now we know autopilot is sending messages
cout << endl;
// --------------------------------------------------------------------------
// GET SYSTEM and COMPONENT IDs
// --------------------------------------------------------------------------
// This comes from the heartbeat, which in theory should only come from
// the autopilot we're directly connected to it. If there is more than one
// vehicle then we can't expect to discover id's like this.
// In which case set the id's manually.
// System ID
if (not system_id)
{
system_id = current_messages.sysid;
cout << "GOT VEHICLE SYSTEM ID: " << system_id << "." << endl;
}
// Component ID
if (not autopilot_id)
{
autopilot_id = current_messages.compid;
cout << "GOT AUTOPILOT COMPONENT ID: " << autopilot_id << endl
<< endl;
}
// // no LOCAL_POSITION_NED msg for ArduSub
// // --------------------------------------------------------------------------
// // GET INITIAL POSITION
// // --------------------------------------------------------------------------
// // Wait for initial position ned
// while (not(current_messages.time_stamps.local_position_ned &&
// current_messages.time_stamps.attitude))
// {
// if (time_to_exit)
// return;
// usleep(500000);
// }
// // copy initial position ned
// Mavlink_Messages local_data = current_messages;
// initial_position.x = local_data.local_position_ned.x;
// initial_position.y = local_data.local_position_ned.y;
// initial_position.z = local_data.local_position_ned.z;
// initial_position.vx = local_data.local_position_ned.vx;
// initial_position.vy = local_data.local_position_ned.vy;
// initial_position.vz = local_data.local_position_ned.vz;
// initial_position.yaw = local_data.attitude.yaw;
// initial_position.yaw_rate = local_data.attitude.yawspeed;
// printf("INITIAL POSITION XYZ = [ %.4f , %.4f , %.4f ] \n", initial_position.x, initial_position.y, initial_position.z);
// printf("INITIAL POSITION YAW = %.4f \n", initial_position.yaw);
// printf("\n");
// // we need this before starting the write thread
// --------------------------------------------------------------------------