Mavlink introduction
Templates bug fix
This commit is contained in:
bsongis
@@ -0,0 +1,3 @@
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*.o
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udptest
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build
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@@ -0,0 +1,12 @@
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VERSION = 1.00
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CC = gcc
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CFLAGS = -I ../../include/common -Wall -Werror -DVERSION=\"$(MAVLINK_VERSION)\" -std=c99
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LDFLAGS = ""
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OBJ = udp.o
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udptest: $(OBJ)
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$(CC) $(CFLAGS) -o udptest $(OBJ) $(LDFLAGS)
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%.o: %.c
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$(CC) $(CFLAGS) -c $<
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@@ -0,0 +1,276 @@
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/*******************************************************************************
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Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch
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and Bryan Godbolt godbolt ( a t ) ualberta.ca
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adapted from example written by Bryan Godbolt godbolt ( a t ) ualberta.ca
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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****************************************************************************/
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/*
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This program sends some data to qgroundcontrol using the mavlink protocol. The sent packets
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cause qgroundcontrol to respond with heartbeats. Any settings or custom commands sent from
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qgroundcontrol are printed by this program along with the heartbeats.
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I compiled this program sucessfully on Ubuntu 10.04 with the following command
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gcc -I ../../pixhawk/mavlink/include -o udp-server udp.c
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the rt library is needed for the clock_gettime on linux
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*/
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/* These headers are for QNX, but should all be standard on unix/linux */
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#include <stdio.h>
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#include <errno.h>
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#include <string.h>
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#include <sys/socket.h>
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#include <sys/types.h>
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#include <netinet/in.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <fcntl.h>
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#include <time.h>
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#if (defined __QNX__) | (defined __QNXNTO__)
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/* QNX specific headers */
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#include <unix.h>
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#else
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/* Linux / MacOS POSIX timer headers */
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#include <sys/time.h>
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#include <time.h>
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#include <arpa/inet.h>
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#endif
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/* 0: Include MAVLink types */
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#include <../mavlink_types.h>
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/* 1: Define mavlink system storage */
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mavlink_system_t mavlink_system;
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/* 2: Include actual protocol, REQUIRES mavlink_system */
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#include <mavlink.h>
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/* 3: Define waypoint helper functions */
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void mavlink_wpm_send_message(mavlink_message_t* msg);
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void mavlink_wpm_send_gcs_string(const char* string);
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uint64_t mavlink_wpm_get_system_timestamp();
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/* 4: Include waypoint protocol */
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#include "waypoints.h"
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mavlink_wpm_storage wpm;
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#define BUFFER_LENGTH 2041 // minimum buffer size that can be used with qnx (I don't know why)
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char help[] = "--help";
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char target_ip[100];
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float position[6] = {};
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int sock;
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struct sockaddr_in gcAddr;
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struct sockaddr_in locAddr;
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uint8_t buf[BUFFER_LENGTH];
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ssize_t recsize;
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socklen_t fromlen;
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int bytes_sent;
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mavlink_message_t msg;
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uint16_t len;
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int i = 0;
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unsigned int temp = 0;
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uint64_t microsSinceEpoch();
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/* Provide the interface functions for the waypoint manager */
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/*
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* @brief Sends a MAVLink message over UDP
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*/
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void mavlink_wpm_send_message(mavlink_message_t* msg)
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{
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uint8_t buf[MAVLINK_MAX_PACKET_LEN];
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uint16_t len = mavlink_msg_to_send_buffer(buf, msg);
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uint16_t bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
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printf("SENT %d bytes", bytes_sent);
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}
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void mavlink_wpm_send_gcs_string(const char* string)
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{
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printf("%s",string);
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}
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uint64_t mavlink_wpm_get_system_timestamp()
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{
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struct timeval tv;
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gettimeofday(&tv, NULL);
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return ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec;
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}
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int main(int argc, char* argv[])
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{
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// Initialize MAVLink
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mavlink_wpm_init(&wpm);
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mavlink_system.sysid = 1;
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mavlink_system.compid = MAV_COMP_ID_WAYPOINTPLANNER;
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// Create socket
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sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
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// Check if --help flag was used
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if ((argc == 2) && (strcmp(argv[1], help) == 0))
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{
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printf("\n");
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printf("\tUsage:\n\n");
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printf("\t");
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printf("%s", argv[0]);
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printf(" <ip address of QGroundControl>\n");
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printf("\tDefault for localhost: udp-server 127.0.0.1\n\n");
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exit(EXIT_FAILURE);
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}
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// Change the target ip if parameter was given
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strcpy(target_ip, "127.0.0.1");
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if (argc == 2)
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{
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strcpy(target_ip, argv[1]);
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}
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memset(&locAddr, 0, sizeof(locAddr));
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locAddr.sin_family = AF_INET;
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locAddr.sin_addr.s_addr = INADDR_ANY;
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locAddr.sin_port = htons(14551);
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/* Bind the socket to port 14551 - necessary to receive packets from qgroundcontrol */
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if (-1 == bind(sock,(struct sockaddr *)&locAddr, sizeof(struct sockaddr)))
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{
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perror("error bind failed");
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close(sock);
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exit(EXIT_FAILURE);
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}
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/* Attempt to make it non blocking */
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if (fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) < 0)
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{
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fprintf(stderr, "error setting nonblocking: %s\n", strerror(errno));
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close(sock);
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exit(EXIT_FAILURE);
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}
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memset(&gcAddr, 0, sizeof(gcAddr));
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gcAddr.sin_family = AF_INET;
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gcAddr.sin_addr.s_addr = inet_addr(target_ip);
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gcAddr.sin_port = htons(14550);
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printf("MAVLINK MISSION LIBRARY EXAMPLE PROCESS INITIALIZATION DONE, RUNNING..\n");
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for (;;)
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{
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/*Send Heartbeat */
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mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_HELICOPTER, MAV_CLASS_GENERIC);
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len = mavlink_msg_to_send_buffer(buf, &msg);
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bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
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/* Send Status */
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mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED, MAV_NAV_HOLD, MAV_STATE_ACTIVE, 500, 7500, 0, 0);
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len = mavlink_msg_to_send_buffer(buf, &msg);
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bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
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/* Send Local Position */
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mavlink_msg_local_position_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(),
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position[0], position[1], position[2],
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position[3], position[4], position[5]);
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len = mavlink_msg_to_send_buffer(buf, &msg);
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bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
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/* Send attitude */
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mavlink_msg_attitude_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), 1.2, 1.7, 3.14, 0.01, 0.02, 0.03);
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len = mavlink_msg_to_send_buffer(buf, &msg);
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bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
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memset(buf, 0, BUFFER_LENGTH);
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recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen);
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if (recsize > 0)
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{
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// Something received - print out all bytes and parse packet
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mavlink_message_t msg;
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mavlink_status_t status;
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printf("Bytes Received: %d\nDatagram: ", (int)recsize);
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for (i = 0; i < recsize; ++i)
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{
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temp = buf[i];
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printf("%02x ", (unsigned char)temp);
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if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status))
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{
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// Packet received
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printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid);
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// Handle packet with waypoint component
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mavlink_wpm_message_handler(&msg);
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// Handle packet with parameter component
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}
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}
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printf("\n");
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}
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memset(buf, 0, BUFFER_LENGTH);
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usleep(50000); // Sleep one second
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}
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}
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/* QNX timer version */
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#if (defined __QNX__) | (defined __QNXNTO__)
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uint64_t microsSinceEpoch()
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{
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struct timespec time;
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uint64_t micros = 0;
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clock_gettime(CLOCK_REALTIME, &time);
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micros = (uint64_t)time.tv_sec * 100000 + time.tv_nsec/1000;
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return micros;
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}
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#else
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uint64_t microsSinceEpoch()
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{
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struct timeval tv;
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uint64_t micros = 0;
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gettimeofday(&tv, NULL);
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micros = ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec;
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return micros;
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}
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#endif
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,79 @@
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.\"Modified from man(1) of FreeBSD, the NetBSD mdoc.template, and mdoc.samples.
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.\"See Also:
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.\"man mdoc.samples for a complete listing of options
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.\"man mdoc for the short list of editing options
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.\"/usr/share/misc/mdoc.template
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.Dd 01.08.11 \" DATE
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.Dt udptest 1 \" Program name and manual section number
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.Os Darwin
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.Sh NAME \" Section Header - required - don't modify
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||||
.Nm udptest,
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.\" The following lines are read in generating the apropos(man -k) database. Use only key
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.\" words here as the database is built based on the words here and in the .ND line.
|
||||
.Nm Other_name_for_same_program(),
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.Nm Yet another name for the same program.
|
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.\" Use .Nm macro to designate other names for the documented program.
|
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.Nd This line parsed for whatis database.
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.Sh SYNOPSIS \" Section Header - required - don't modify
|
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.Nm
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.Op Fl abcd \" [-abcd]
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.Op Fl a Ar path \" [-a path]
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.Op Ar file \" [file]
|
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.Op Ar \" [file ...]
|
||||
.Ar arg0 \" Underlined argument - use .Ar anywhere to underline
|
||||
arg2 ... \" Arguments
|
||||
.Sh DESCRIPTION \" Section Header - required - don't modify
|
||||
Use the .Nm macro to refer to your program throughout the man page like such:
|
||||
.Nm
|
||||
Underlining is accomplished with the .Ar macro like this:
|
||||
.Ar underlined text .
|
||||
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||||
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||||
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|
||||
Description of item a
|
||||
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|
||||
Description of item b
|
||||
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|
||||
.Pp
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||||
A list of flags and their descriptions:
|
||||
.Bl -tag -width -indent \" Differs from above in tag removed
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||||
.It Fl a \"-a flag as a list item
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Description of -a flag
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||||
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||||
Description of -b flag
|
||||
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|
||||
.Pp
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.\" .Sh ENVIRONMENT \" May not be needed
|
||||
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|
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.\" .It Ev ENV_VAR_1
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.\" Description of ENV_VAR_1
|
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.\" .It Ev ENV_VAR_2
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.\" Description of ENV_VAR_2
|
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.\" .El
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||||
.Sh FILES \" File used or created by the topic of the man page
|
||||
.Bl -tag -width "/Users/joeuser/Library/really_long_file_name" -compact
|
||||
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|
||||
FILE_1 description
|
||||
.It Pa /Users/joeuser/Library/really_long_file_name
|
||||
FILE_2 description
|
||||
.El \" Ends the list
|
||||
.\" .Sh DIAGNOSTICS \" May not be needed
|
||||
.\" .Bl -diag
|
||||
.\" .It Diagnostic Tag
|
||||
.\" Diagnostic informtion here.
|
||||
.\" .It Diagnostic Tag
|
||||
.\" Diagnostic informtion here.
|
||||
.\" .El
|
||||
.Sh SEE ALSO
|
||||
.\" List links in ascending order by section, alphabetically within a section.
|
||||
.\" Please do not reference files that do not exist without filing a bug report
|
||||
.Xr a 1 ,
|
||||
.Xr b 1 ,
|
||||
.Xr c 1 ,
|
||||
.Xr a 2 ,
|
||||
.Xr b 2 ,
|
||||
.Xr a 3 ,
|
||||
.Xr b 3
|
||||
.\" .Sh BUGS \" Document known, unremedied bugs
|
||||
.\" .Sh HISTORY \" Document history if command behaves in a unique manner
|
||||
@@ -0,0 +1,2 @@
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*.mode1v3
|
||||
*.pbxuser
|
||||
@@ -0,0 +1,217 @@
|
||||
// !$*UTF8*$!
|
||||
{
|
||||
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Reference in New Issue
Block a user