PxQuadMAV.cc 10 KB
Newer Older
lm's avatar
lm committed
1 2 3 4 5 6 7 8 9 10 11
/*=====================================================================
QGroundControl Open Source Ground Control Station

(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.
12

lm's avatar
lm committed
13 14 15 16
    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.
17

lm's avatar
lm committed
18 19
    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
20

lm's avatar
lm committed
21 22
======================================================================*/

23
#include "PxQuadMAV.h"
lm's avatar
lm committed
24
#include "GAudioOutput.h"
25 26

PxQuadMAV::PxQuadMAV(MAVLinkProtocol* mavlink, int id) :
27
    UAS(mavlink, id)
28 29
{
}
30 31 32 33 34 35 36 37 38 39 40

/**
 * This function is called by MAVLink once a complete, uncorrupted (CRC check valid)
 * mavlink packet is received.
 *
 * @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port).
 *             messages can be sent back to the system via this link
 * @param message MAVLink message, as received from the MAVLink protocol stack
 */
void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
41
    // Only compile this portion if matching MAVLink packets have been compiled
lm's avatar
lm committed
42
#ifdef MAVLINK_ENABLED_PIXHAWK
pixhawk's avatar
pixhawk committed
43
    mavlink_message_t* msg = &message;
pixhawk's avatar
pixhawk committed
44

45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66
    if (message.sysid == uasId) {
        switch (message.msgid) {
        case MAVLINK_MSG_ID_RAW_AUX: {
            mavlink_raw_aux_t raw;
            mavlink_msg_raw_aux_decode(&message, &raw);
            quint64 time = getUnixTime(0);
            emit valueChanged(uasId, "Pressure", "raw", raw.baro, time);
            emit valueChanged(uasId, "Temperature", "raw", raw.temp, time);
        }
        break;
        case MAVLINK_MSG_ID_IMAGE_TRIGGERED: {
            // FIXME Kind of a hack to load data from disk
            mavlink_image_triggered_t img;
            mavlink_msg_image_triggered_decode(&message, &img);
            emit imageStarted(img.timestamp);
        }
        break;
        case MAVLINK_MSG_ID_PATTERN_DETECTED: {
            mavlink_pattern_detected_t detected;
            mavlink_msg_pattern_detected_decode(&message, &detected);
            QByteArray b;
            b.resize(256);
LM's avatar
LM committed
67
            mavlink_msg_pattern_detected_get_file(&message, b.data());
68 69 70 71 72 73 74 75 76 77 78
            b.append('\0');
            QString name = QString(b);
            if (detected.type == 0)
                emit patternDetected(uasId, name, detected.confidence, detected.detected);
            else if (detected.type == 1)
                emit letterDetected(uasId, name, detected.confidence, detected.detected);
        }
        break;
        case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT: {
            mavlink_watchdog_heartbeat_t payload;
            mavlink_msg_watchdog_heartbeat_decode(msg, &payload);
lm's avatar
lm committed
79

80 81 82
            emit watchdogReceived(this->uasId, payload.watchdog_id, payload.process_count);
        }
        break;
lm's avatar
lm committed
83

84 85 86
        case MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO: {
            mavlink_watchdog_process_info_t payload;
            mavlink_msg_watchdog_process_info_decode(msg, &payload);
lm's avatar
lm committed
87

88 89 90
            emit processReceived(this->uasId, payload.watchdog_id, payload.process_id, QString((const char*)payload.name), QString((const char*)payload.arguments), payload.timeout);
        }
        break;
lm's avatar
lm committed
91

92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110
        case MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS: {
            mavlink_watchdog_process_status_t payload;
            mavlink_msg_watchdog_process_status_decode(msg, &payload);
            emit processChanged(this->uasId, payload.watchdog_id, payload.process_id, payload.state, (payload.muted == 1) ? true : false, payload.crashes, payload.pid);
        }
        break;
        case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE: {
            mavlink_vision_position_estimate_t pos;
            mavlink_msg_vision_position_estimate_decode(&message, &pos);
            quint64 time = getUnixTime(pos.usec);
            //emit valueChanged(uasId, "vis. time", pos.usec, time);
            emit valueChanged(uasId, "vis. roll", "rad", pos.roll, time);
            emit valueChanged(uasId, "vis. pitch", "rad", pos.pitch, time);
            emit valueChanged(uasId, "vis. yaw", "rad", pos.yaw, time);
            emit valueChanged(uasId, "vis. x", "m", pos.x, time);
            emit valueChanged(uasId, "vis. y", "m", pos.y, time);
            emit valueChanged(uasId, "vis. z", "m", pos.z, time);
        }
        break;
111 112 113 114 115 116 117 118 119 120 121 122 123
//        case MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE: {
//            mavlink_global_vision_position_estimate_t pos;
//            mavlink_msg_global_vision_position_estimate_decode(&message, &pos);
//            quint64 time = getUnixTime(pos.usec);
//            //emit valueChanged(uasId, "vis. time", pos.usec, time);
//            emit valueChanged(uasId, "glob. vis. roll", "rad", pos.roll, time);
//            emit valueChanged(uasId, "glob. vis. pitch", "rad", pos.pitch, time);
//            emit valueChanged(uasId, "glob. vis. yaw", "rad", pos.yaw, time);
//            emit valueChanged(uasId, "glob. vis. x", "m", pos.x, time);
//            emit valueChanged(uasId, "glob. vis. y", "m", pos.y, time);
//            emit valueChanged(uasId, "glob. vis. z", "m", pos.z, time);
//        }
//        break;
124 125 126 127 128 129 130 131 132 133 134
        case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE: {
            mavlink_vicon_position_estimate_t pos;
            mavlink_msg_vicon_position_estimate_decode(&message, &pos);
            quint64 time = getUnixTime(pos.usec);
            //emit valueChanged(uasId, "vis. time", pos.usec, time);
            emit valueChanged(uasId, "vicon roll", "rad", pos.roll, time);
            emit valueChanged(uasId, "vicon pitch", "rad", pos.pitch, time);
            emit valueChanged(uasId, "vicon yaw", "rad", pos.yaw, time);
            emit valueChanged(uasId, "vicon x", "m", pos.x, time);
            emit valueChanged(uasId, "vicon y", "m", pos.y, time);
            emit valueChanged(uasId, "vicon z", "m", pos.z, time);
135 136 137 138 139 140 141 142 143 144
            //emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
        }
        break;
        case MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE: {
            mavlink_vision_speed_estimate_t speed;
            mavlink_msg_vision_speed_estimate_decode(&message, &speed);
            quint64 time = getUnixTime(speed.usec);
            emit valueChanged(uasId, "vis. speed x", "m/s", speed.x, time);
            emit valueChanged(uasId, "vis. speed y", "m/s", speed.y, time);
            emit valueChanged(uasId, "vis. speed z", "m/s", speed.z, time);
145 146
        }
        break;
LM's avatar
LM committed
147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188
//        case MAVLINK_MSG_ID_CONTROL_STATUS:
//            {
//                mavlink_control_status_t status;
//                mavlink_msg_control_status_decode(&message, &status);
//                // Emit control status vector
//                emit attitudeControlEnabled(static_cast<bool>(status.control_att));
//                emit positionXYControlEnabled(static_cast<bool>(status.control_pos_xy));
//                emit positionZControlEnabled(static_cast<bool>(status.control_pos_z));
//                emit positionYawControlEnabled(static_cast<bool>(status.control_pos_yaw));

//                // Emit localization status vector
//                emit localizationChanged(this, status.position_fix);
//                emit visionLocalizationChanged(this, status.vision_fix);
//                emit gpsLocalizationChanged(this, status.gps_fix);
//            }
//            break;
//        case MAVLINK_MSG_ID_VISUAL_ODOMETRY:
//            {
//                mavlink_visual_odometry_t pos;
//                mavlink_msg_visual_odometry_decode(&message, &pos);
//                quint64 time = getUnixTime(pos.frame1_time_us);
//                //emit valueChanged(uasId, "vis. time", pos.usec, time);
//                emit valueChanged(uasId, "vis-o. roll", "rad", pos.roll, time);
//                emit valueChanged(uasId, "vis-o. pitch", "rad", pos.pitch, time);
//                emit valueChanged(uasId, "vis-o. yaw", "rad", pos.yaw, time);
//                emit valueChanged(uasId, "vis-o. x", "m", pos.x, time);
//                emit valueChanged(uasId, "vis-o. y", "m", pos.y, time);
//                emit valueChanged(uasId, "vis-o. z", "m", pos.z, time);
//            }
//            break;
//        case MAVLINK_MSG_ID_AUX_STATUS: {
//            mavlink_aux_status_t status;
//            mavlink_msg_aux_status_decode(&message, &status);
//            emit loadChanged(this, status.load/10.0f);
//            emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count);
//            emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count);
//            emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
//            emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
//            emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
//            emit valueChanged(uasId, "Load", "%", ((float)status.load)/10.0f, getUnixTime());
//        }
//        break;
189 190 191
        default:
            // Let UAS handle the default message set
            UAS::receiveMessage(link, message);
lm's avatar
lm committed
192 193
            break;
        }
194
    }
lm's avatar
lm committed
195

196 197 198 199 200
#else
    // Let UAS handle the default message set
    UAS::receiveMessage(link, message);
    Q_UNUSED(link);
    Q_UNUSED(message);
lm's avatar
lm committed
201
#endif
202
}
203 204 205

void PxQuadMAV::sendProcessCommand(int watchdogId, int processId, unsigned int command)
{
lm's avatar
lm committed
206
#ifdef MAVLINK_ENABLED_PIXHAWK
207 208 209 210 211 212 213
    mavlink_watchdog_command_t payload;
    payload.target_system_id = uasId;
    payload.watchdog_id = watchdogId;
    payload.process_id = processId;
    payload.command_id = (uint8_t)command;

    mavlink_message_t msg;
lm's avatar
lm committed
214
    mavlink_msg_watchdog_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &payload);
215
    sendMessage(msg);
lm's avatar
lm committed
216 217 218 219
#else
    Q_UNUSED(watchdogId);
    Q_UNUSED(processId);
    Q_UNUSED(command);
lm's avatar
lm committed
220
#endif
221
}