Basic MAVLink datalink implementation. More...

#include "modules/datalink/mavlink.h"
#include "mavlink/ardupilotmega/mavlink.h"
#include "modules/datalink/telemetry_common.h"
#include "generated/periodic_telemetry.h"
#include "generated/airframe.h"
#include "generated/modules.h"
#include "generated/settings.h"
#include "generated/flight_plan.h"
#include "mcu_periph/sys_time.h"
#include "modules/energy/electrical.h"
#include "state.h"
#include "pprz_version.h"
#include "autopilot.h"
#include "autopilot_guided.h"
#include "modules/radio_control/radio_control.h"
#include "modules/datalink/missionlib/mission_manager.h"
#include <stdint.h>
#include "modules/gps/gps.h"
#include "modules/core/commands.h"

Include dependency graph for mavlink.c:

Go to the source code of this file.

Macros
#define	PERIODIC_C_MAVLINK

#define	MAV_AUTOPILOT_ID MAV_AUTOPILOT_PPZ

#define	MAVLINK_SYSID AC_ID
	MAVLink initialization. More...

#define	UAV_SENSORS (MAV_SYS_STATUS_SENSOR_3D_GYRO\|MAV_SYS_STATUS_SENSOR_3D_ACCEL\|MAV_SYS_STATUS_SENSOR_3D_MAG\|MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE)

#define	RC_CHANNELS RADIO_CONTROL_NB_CHANNEL

#define	PPM_OF_PPRZ(_v) ((_v) / 19.2 + 1500)

#define	PPM_PULSES(_i) ((_i) < RADIO_CONTROL_NB_CHANNEL ? PPM_OF_PPRZ(radio_control.values[(_i)]) + MAX_PPRZ : UINT16_MAX)

Functions
void	mavlink_common_message_handler (const mavlink_message_t *msg)

static void	mavlink_send_extended_sys_state (struct transport_tx trans, struct link_device dev)

static void	mavlink_send_heartbeat (struct transport_tx trans, struct link_device dev)
	Send a heartbeat. More...

static void	mavlink_send_sys_status (struct transport_tx trans, struct link_device dev)
	Send the system status. More...

static void	mavlink_send_system_time (struct transport_tx trans, struct link_device dev)
	Send SYSTEM_TIME. More...

static void	mavlink_send_attitude (struct transport_tx trans, struct link_device dev)
	Send the attitude. More...

static void	mavlink_send_local_position_ned (struct transport_tx trans, struct link_device dev)

static void	mavlink_send_global_position_int (struct transport_tx trans, struct link_device dev)

static void	mavlink_send_params (struct transport_tx trans, struct link_device dev)
	Send the parameters. More...

static void	mavlink_send_autopilot_version (struct transport_tx trans, struct link_device dev)

static void	mavlink_send_attitude_quaternion (struct transport_tx trans, struct link_device dev)

static void	mavlink_send_gps_raw_int (struct transport_tx trans, struct link_device dev)

static void	mavlink_send_rc_channels (struct transport_tx trans, struct link_device dev)

static void	mavlink_send_battery_status (struct transport_tx trans, struct link_device dev)

static void	mavlink_send_gps_global_origin (struct transport_tx trans, struct link_device dev)

static void	mavlink_send_gps_status (struct transport_tx trans, struct link_device dev)
	Send gps status. More...

static void	mavlink_send_vfr_hud (struct transport_tx trans, struct link_device dev)
	Send Metrics typically displayed on a HUD for fixed wing aircraft. More...

void	mavlink_init (void)
	Module functions. More...

void	mavlink_periodic_telemetry (void)
	Send periodic mavlink messages as defined in Mavlink process of telemetry xml file. More...

void	mavlink_periodic (void)
	Periodic MAVLink calls. More...

static int16_t	settings_idx_from_param_id (char *param_id)

void	mavlink_event (void)
	Event MAVLink calls. More...

Variables
mavlink_system_t	mavlink_system

static uint8_t	mavlink_params_idx = NB_SETTING
	Transmitting parameters index. More...

static char	mavlink_param_names [NB_SETTING][16+1] = SETTINGS_NAMES_SHORT
	mavlink parameter names. More...

static uint8_t	custom_version [8]
	first 8 bytes (16 chars) of GIT SHA1 More...

mavlink_mission_mgr	mission_mgr

Detailed Description

Basic MAVLink datalink implementation.

Definition in file mavlink.c.

Macro Definition Documentation

◆ MAV_AUTOPILOT_ID

#define MAV_AUTOPILOT_ID MAV_AUTOPILOT_PPZ

Definition at line 64 of file mavlink.c.

◆ MAVLINK_SYSID

#define MAVLINK_SYSID AC_ID

MAVLink initialization.

Definition at line 108 of file mavlink.c.

◆ PERIODIC_C_MAVLINK

#define PERIODIC_C_MAVLINK

Definition at line 38 of file mavlink.c.

◆ PPM_OF_PPRZ

#define PPM_OF_PPRZ ( _v ) ((_v) / 19.2 + 1500)

Definition at line 827 of file mavlink.c.

◆ PPM_PULSES

#define PPM_PULSES ( _i ) ((_i) < RADIO_CONTROL_NB_CHANNEL ? PPM_OF_PPRZ(radio_control.values[(_i)]) + MAX_PPRZ : UINT16_MAX)

Definition at line 828 of file mavlink.c.

◆ RC_CHANNELS

#define RC_CHANNELS RADIO_CONTROL_NB_CHANNEL

Definition at line 826 of file mavlink.c.

◆ UAV_SENSORS

#define UAV_SENSORS (MAV_SYS_STATUS_SENSOR_3D_GYRO|MAV_SYS_STATUS_SENSOR_3D_ACCEL|MAV_SYS_STATUS_SENSOR_3D_MAG|MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE)

Function Documentation

◆ mavlink_common_message_handler()

void mavlink_common_message_handler ( const mavlink_message_t * msg )

Definition at line 232 of file mavlink.c.

References LlaCoor_i::alt, AP_MODE_GUIDED, AP_MODE_NAV, autopilot_get_mode(), autopilot_get_motors_on(), autopilot_guided_goto_body_relative(), autopilot_guided_goto_ned(), autopilot_guided_goto_ned_relative(), autopilot_guided_move_ned(), autopilot_set_mode(), autopilot_set_motors_on(), DefaultChannel, DefaultDevice, FALSE, LtpDef_i::hmsl, idx, LlaCoor_i::lat, LtpDef_i::lla, LlaCoor_i::lon, MAVLINK_DEBUG, mavlink_param_names, mavlink_params_idx, MAVLinkSendMessage, MM_OF_M, mode, msg, ned_of_lla_point_i(), State::ned_origin_i, parse_rc_up_datalink(), settings_idx_from_param_id(), state, target, TRUE, waypoint_set_alt(), and waypoint_set_latlon().

Referenced by mavlink_event().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mavlink_event()

void mavlink_event ( void )

Event MAVLink calls.

Definition at line 215 of file mavlink.c.

References mavlink_common_message_handler(), mavlink_mission_message_handler(), MAVLinkChAvailable, MAVLinkGetch, msg, and status.

Here is the call graph for this function:

◆ mavlink_init()

void mavlink_init ( void )

Module functions.

Definition at line 116 of file mavlink.c.

References custom_version, mavlink_mission_init(), mavlink_send_attitude(), mavlink_send_attitude_quaternion(), mavlink_send_autopilot_version(), mavlink_send_battery_status(), mavlink_send_extended_sys_state(), mavlink_send_global_position_int(), mavlink_send_gps_global_origin(), mavlink_send_gps_raw_int(), mavlink_send_gps_status(), mavlink_send_heartbeat(), mavlink_send_local_position_ned(), mavlink_send_rc_channels(), mavlink_send_sys_status(), mavlink_send_system_time(), mavlink_send_vfr_hud(), MAVLINK_SYSID, mavlink_system, mission_mgr, and register_periodic_telemetry().

Here is the call graph for this function:

◆ mavlink_periodic()

void mavlink_periodic ( void )

Periodic MAVLink calls.

Called at MAVLINK_PERIODIC_FREQ (set in module xml to 10Hz)

Definition at line 161 of file mavlink.c.

References mavlink_mission_periodic(), mavlink_send_attitude(), mavlink_send_attitude_quaternion(), mavlink_send_autopilot_version(), mavlink_send_battery_status(), mavlink_send_global_position_int(), mavlink_send_gps_global_origin(), mavlink_send_gps_raw_int(), mavlink_send_gps_status(), mavlink_send_heartbeat(), mavlink_send_local_position_ned(), mavlink_send_params(), mavlink_send_rc_channels(), mavlink_send_sys_status(), mavlink_send_system_time(), and mavlink_send_vfr_hud().

Here is the call graph for this function:

◆ mavlink_periodic_telemetry()

void mavlink_periodic_telemetry ( void )

Send periodic mavlink messages as defined in Mavlink process of telemetry xml file.

Called at TELEMETRY_FREQUENCY

Definition at line 148 of file mavlink.c.

◆ mavlink_send_attitude()

static void mavlink_send_attitude	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Send the attitude.

Definition at line 625 of file mavlink.c.

References get_sys_time_msec(), MAVLinkSendMessage, p, stateGetBodyRates_f(), and stateGetNedToBodyEulers_f().

Referenced by mavlink_init(), and mavlink_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mavlink_send_attitude_quaternion()

static void mavlink_send_attitude_quaternion	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 728 of file mavlink.c.

References get_sys_time_msec(), MAVLinkSendMessage, p, stateGetBodyRates_f(), and stateGetNedToBodyQuat_f().

Referenced by mavlink_init(), and mavlink_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mavlink_send_autopilot_version()

static void mavlink_send_autopilot_version	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

TODO: fill in versions correctly, how should they be encoded?

Definition at line 706 of file mavlink.c.

References MAVLinkSendMessage.

Referenced by mavlink_init(), and mavlink_periodic().

Here is the caller graph for this function:

◆ mavlink_send_battery_status()

static void mavlink_send_battery_status	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

TODO: check what all these fields are supposed to represent

Definition at line 859 of file mavlink.c.

References Electrical::charge, Electrical::current, electrical, Electrical::energy, MAVLinkSendMessage, and Electrical::vsupply.

Referenced by mavlink_init(), and mavlink_periodic().

Here is the caller graph for this function:

◆ mavlink_send_extended_sys_state()

static void mavlink_send_extended_sys_state	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 577 of file mavlink.c.

References autopilot_in_flight(), and MAVLinkSendMessage.

Referenced by mavlink_init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mavlink_send_global_position_int()

static void mavlink_send_global_position_int	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

TODO: check/ask what coordinate system vel is supposed to be in, not clear from docs

Definition at line 651 of file mavlink.c.

References LlaCoor_i::alt, get_sys_time_msec(), heading, LtpDef_i::hmsl, LlaCoor_i::lat, LtpDef_i::lla, LlaCoor_i::lon, MAVLinkSendMessage, State::ned_origin_i, state, stateGetNedToBodyEulers_f(), stateGetPositionLla_i(), and stateGetSpeedNed_f().

Referenced by mavlink_init(), and mavlink_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mavlink_send_gps_global_origin()

static void mavlink_send_gps_global_origin	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 674 of file mavlink.c.

References get_sys_time_usec(), LtpDef_i::hmsl, LlaCoor_i::lat, LtpDef_i::lla, LlaCoor_i::lon, MAVLinkSendMessage, State::ned_initialized_i, State::ned_origin_i, and state.

Referenced by mavlink_init(), and mavlink_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mavlink_send_gps_raw_int()

static void mavlink_send_gps_raw_int	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 748 of file mavlink.c.

References LlaCoor_i::alt, GpsState::course, course, GpsState::fix, get_sys_time_usec(), gps, GpsState::gspeed, GpsState::hacc, GpsState::hmsl, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, MAVLinkSendMessage, GpsState::num_sv, GpsState::pdop, GpsState::sacc, and GpsState::vacc.

Referenced by mavlink_init(), and mavlink_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mavlink_send_gps_status()

static void mavlink_send_gps_status	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Send gps status.

The GPS status message consists of:

satellites visible
satellite pnr[] (ignored)
satellite used[] (ignored)
satellite elevation[] (ignored)
satellite azimuth[] (ignored)
satellite snr[] (ignored)

Definition at line 786 of file mavlink.c.

References SVinfo::azim, SVinfo::cno, SVinfo::elev, gps, GPS_NB_CHANNELS, MAVLinkSendMessage, Min, GpsState::num_sv, SVinfo::svid, and GpsState::svinfos.

Referenced by mavlink_init(), and mavlink_periodic().

Here is the caller graph for this function:

◆ mavlink_send_heartbeat()

static void mavlink_send_heartbeat	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Send a heartbeat.

Definition at line 499 of file mavlink.c.

References AP_MODE_ATTITUDE_CLIMB, AP_MODE_ATTITUDE_DIRECT, AP_MODE_ATTITUDE_RC_CLIMB, AP_MODE_ATTITUDE_Z_HOLD, AP_MODE_AUTO1, AP_MODE_AUTO2, AP_MODE_CARE_FREE_DIRECT, AP_MODE_GUIDED, AP_MODE_HOME, AP_MODE_HOVER_CLIMB, AP_MODE_HOVER_DIRECT, AP_MODE_HOVER_Z_HOLD, AP_MODE_MANUAL, AP_MODE_NAV, AP_MODE_RATE_DIRECT, AP_MODE_RATE_RC_CLIMB, AP_MODE_RATE_Z_HOLD, AP_MODE_RC_DIRECT, autopilot_get_mode(), autopilot_throttle_killed(), MAV_AUTOPILOT_ID, MAVLinkSendMessage, and stateIsAttitudeValid().

Referenced by mavlink_init(), and mavlink_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mavlink_send_local_position_ned()

static void mavlink_send_local_position_ned	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 638 of file mavlink.c.

References get_sys_time_msec(), MAVLinkSendMessage, stateGetPositionNed_f(), and stateGetSpeedNed_f().

Referenced by mavlink_init(), and mavlink_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mavlink_send_params()

static void mavlink_send_params	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Send the parameters.

Definition at line 689 of file mavlink.c.

References mavlink_param_names, mavlink_params_idx, and MAVLinkSendMessage.

Referenced by mavlink_periodic().

Here is the caller graph for this function:

◆ mavlink_send_rc_channels()

static void mavlink_send_rc_channels	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 832 of file mavlink.c.

References get_sys_time_msec(), MAVLinkSendMessage, PPM_PULSES, and RC_CHANNELS.

Referenced by mavlink_init(), and mavlink_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mavlink_send_sys_status()

static void mavlink_send_sys_status	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Send the system status.

TODO: FIXME

Definition at line 586 of file mavlink.c.

References Electrical::current, electrical, MAVLinkSendMessage, UAV_SENSORS, and Electrical::vsupply.

Referenced by mavlink_init(), and mavlink_periodic().

Here is the caller graph for this function:

◆ mavlink_send_system_time()

static void mavlink_send_system_time	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Send SYSTEM_TIME.

time_unix_usec
time_boot_ms

Definition at line 616 of file mavlink.c.

References get_sys_time_msec(), and MAVLinkSendMessage.

Referenced by mavlink_init(), and mavlink_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mavlink_send_vfr_hud()

static void mavlink_send_vfr_hud	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Send Metrics typically displayed on a HUD for fixed wing aircraft.

Definition at line 887 of file mavlink.c.

References LlaCoor_f::alt, LlaCoor_i::alt, commands, heading, LtpDef_f::hmsl, LtpDef_f::lla, MAVLinkSendMessage, MAX_PPRZ, State::ned_origin_f, state, stateGetAirspeed_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), stateGetPositionLla_f(), and stateGetSpeedNed_f().

Referenced by mavlink_init(), and mavlink_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ settings_idx_from_param_id()

static int16_t settings_idx_from_param_id ( char * param_id )

static

Definition at line 187 of file mavlink.c.

References mavlink_param_names.

Referenced by mavlink_common_message_handler().

Here is the caller graph for this function:

Variable Documentation

◆ custom_version

uint8_t custom_version[8]

static

first 8 bytes (16 chars) of GIT SHA1

Definition at line 79 of file mavlink.c.

Referenced by mavlink_init().

◆ mavlink_param_names

char mavlink_param_names[NB_SETTING][16+1] = SETTINGS_NAMES_SHORT

static

mavlink parameter names.

16 chars + 1 NULL termination.

Definition at line 78 of file mavlink.c.

Referenced by mavlink_common_message_handler(), mavlink_send_params(), and settings_idx_from_param_id().

◆ mavlink_params_idx

uint8_t mavlink_params_idx = NB_SETTING

static

Transmitting parameters index.

Definition at line 74 of file mavlink.c.

Referenced by mavlink_common_message_handler(), and mavlink_send_params().

◆ mavlink_system

mavlink_system_t mavlink_system

Definition at line 72 of file mavlink.c.

Referenced by mavlink_block_message_handler(), mavlink_init(), and mavlink_wp_message_handler().

◆ mission_mgr

mavlink_mission_mgr mission_mgr

Definition at line 81 of file mavlink.c.

Referenced by mavlink_block_message_handler(), mavlink_init(), mavlink_mission_cancel_timer(), mavlink_mission_message_handler(), mavlink_mission_periodic(), mavlink_mission_set_timer(), mavlink_send_block(), mavlink_send_block_count(), mavlink_send_mission_ack(), and mavlink_wp_message_handler().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ MAV_AUTOPILOT_ID

◆ MAVLINK_SYSID

◆ PERIODIC_C_MAVLINK

◆ PPM_OF_PPRZ

◆ PPM_PULSES

◆ RC_CHANNELS

◆ UAV_SENSORS

Function Documentation

◆ mavlink_common_message_handler()

◆ mavlink_event()

◆ mavlink_init()

◆ mavlink_periodic()

◆ mavlink_periodic_telemetry()

◆ mavlink_send_attitude()

◆ mavlink_send_attitude_quaternion()

◆ mavlink_send_autopilot_version()

◆ mavlink_send_battery_status()

◆ mavlink_send_extended_sys_state()

◆ mavlink_send_global_position_int()

◆ mavlink_send_gps_global_origin()

◆ mavlink_send_gps_raw_int()

◆ mavlink_send_gps_status()

◆ mavlink_send_heartbeat()

◆ mavlink_send_local_position_ned()

◆ mavlink_send_params()

◆ mavlink_send_rc_channels()

◆ mavlink_send_sys_status()

◆ mavlink_send_system_time()

◆ mavlink_send_vfr_hud()

◆ settings_idx_from_param_id()

Variable Documentation

◆ custom_version

◆ mavlink_param_names

◆ mavlink_params_idx

◆ mavlink_system

◆ mission_mgr