Basic MAVLink datalink implementation. More...

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

Include dependency graph for mavlink.c:

Go to the source code of this file.

Macros
#define	PERIODIC_C_MAVLINK

#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_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

#define MAVLINK_SYSID AC_ID

MAVLink initialization.

Definition at line 99 of file mavlink.c.

Referenced by mavlink_init().

#define PERIODIC_C_MAVLINK

Definition at line 36 of file mavlink.c.

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

Definition at line 738 of file mavlink.c.

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

Definition at line 739 of file mavlink.c.

Referenced by mavlink_send_rc_channels().

#define RC_CHANNELS RADIO_CONTROL_NB_CHANNEL

Definition at line 737 of file mavlink.c.

Referenced by mavlink_send_rc_channels().

#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)

Referenced by mavlink_send_sys_status().

Function Documentation

void mavlink_common_message_handler ( const mavlink_message_t * msg )

Definition at line 222 of file mavlink.c.

References 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(), FALSE, idx, MAVLINK_DEBUG, mavlink_param_names, mavlink_params_idx, MAVLinkSendMessage, mode, parse_rc_4ch_datalink(), settings_idx_from_param_id(), target, and TRUE.

Referenced by mavlink_event().

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void mavlink_event ( void )

Event MAVLink calls.

Definition at line 205 of file mavlink.c.

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

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void mavlink_init ( void )

Module functions.

Definition at line 107 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_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, and register_periodic_telemetry().

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void mavlink_periodic ( void )

Periodic MAVLink calls.

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

Definition at line 151 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().

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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 138 of file mavlink.c.

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

static

Send the attitude.

Definition at line 546 of file mavlink.c.

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

Referenced by mavlink_init(), and mavlink_periodic().

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

static

Definition at line 647 of file mavlink.c.

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

Referenced by mavlink_init(), and mavlink_periodic().

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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 625 of file mavlink.c.

References MAVLinkSendMessage.

Referenced by mavlink_init(), and mavlink_periodic().

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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 770 of file mavlink.c.

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

Referenced by mavlink_init(), and mavlink_periodic().

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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 572 of file mavlink.c.

References LlaCoor_i::alt, get_sys_time_msec(), heading, LtpDef_f::hmsl, MAVLinkSendMessage, State::ned_origin_f, state, stateGetNedToBodyEulers_f(), stateGetPositionLla_i(), and stateGetSpeedNed_f().

Referenced by mavlink_init(), and mavlink_periodic().

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

static

Definition at line 594 of file mavlink.c.

References 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().

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

static

Definition at line 665 of file mavlink.c.

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

Referenced by mavlink_init(), and mavlink_periodic().

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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 697 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().

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

static

Send a heartbeat.

Definition at line 437 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(), MAVLinkSendMessage, and stateIsAttitudeValid().

Referenced by mavlink_init(), and mavlink_periodic().

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

static

Definition at line 559 of file mavlink.c.

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

Referenced by mavlink_init(), and mavlink_periodic().

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

static

Send the parameters.

Definition at line 608 of file mavlink.c.

References mavlink_param_names, mavlink_params_idx, and MAVLinkSendMessage.

Referenced by mavlink_periodic().

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

static

Definition at line 743 of file mavlink.c.

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

Referenced by mavlink_init(), and mavlink_periodic().

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

static

Send the system status.

TODO: FIXME

Definition at line 510 of file mavlink.c.

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

Referenced by mavlink_init(), and mavlink_periodic().

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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 537 of file mavlink.c.

References get_sys_time_msec(), and MAVLinkSendMessage.

Referenced by mavlink_init(), and mavlink_periodic().

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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 793 of file mavlink.c.

References commands, heading, MAVLinkSendMessage, MAX_PPRZ, stateGetAirspeed_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), stateGetPositionLla_f(), and stateGetSpeedNed_f().

Referenced by mavlink_init(), and mavlink_periodic().

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static int16_t settings_idx_from_param_id ( char * param_id )

static

Definition at line 177 of file mavlink.c.

References mavlink_param_names.

Referenced by mavlink_common_message_handler().

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Variable Documentation

uint8_t custom_version[8]

static

first 8 bytes (16 chars) of GIT SHA1

Definition at line 71 of file mavlink.c.

Referenced by mavlink_init().

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

static

mavlink parameter names.

16 chars + 1 NULL termination.

Definition at line 70 of file mavlink.c.

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

uint8_t mavlink_params_idx = NB_SETTING

static

Transmitting parameters index.

Definition at line 66 of file mavlink.c.

Referenced by mavlink_common_message_handler(), and mavlink_send_params().

mavlink_system_t mavlink_system

Definition at line 64 of file mavlink.c.

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

mavlink_mission_mgr mission_mgr

Definition at line 73 of file mavlink.c.

Referenced by mavlink_block_message_handler(), 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

Function Documentation

Variable Documentation