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[Mavlink] Added battery status and mode menus. Synced mavlink library with official repository.

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pienk@planet.nl
2013-05-20 21:41:16 +00:00
parent a2aa7c62c2
commit 59fdea8ee5
227 changed files with 3774 additions and 29629 deletions
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src/telemetry/mavlink.cpp
+31 -4
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@@ -14,6 +14,7 @@
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rienk de Jong
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
@@ -56,7 +57,7 @@ mavlink_system_t mavlink_system = { 7, MAV_COMP_ID_MISSIONPLANNER, 0, 0, 0, 0 };
// Mavlink message decoded Status Text
#define PARAM_NB_REPEAT 10
#define LEN_STATUSTEXT 15
#define LEN_STATUSTEXT 20
static char mav_statustext[LEN_STATUSTEXT];
static int8_t mav_heartbeat = 0;
static int8_t mav_heartbeat_recv = 0;
@@ -144,6 +145,7 @@ void MAVLINK_Init(void) {
* characters are used. To get the full message you can use the commented
* funtion below.
*/
static inline void REC_MAVLINK_MSG_ID_STATUSTEXT(const mavlink_message_t* msg) {
uint8_t temp = mavlink_msg_statustext_get_severity(msg);
_MAV_RETURN_char_array(msg, mav_statustext, LEN_STATUSTEXT, 1);
@@ -158,26 +160,46 @@ static inline void REC_MAVLINK_MSG_ID_STATUSTEXT(const mavlink_message_t* msg) {
* \todo Add battery remaining variable in telemetry_data struct for estimated
* remaining battery. Decoding funtion allready in place.
*/
static inline void REC_MAVLINK_MSG_ID_SYS_STATUS(const mavlink_message_t* msg) {
// mavlink_sys_status_t sys_status;
// mavlink_msg_sys_status_decode(msg, &sys_status);
telemetry_data.vbat = mavlink_msg_sys_status_get_voltage_battery(msg) / 100; // Voltage * 10
int8_t temp = mavlink_msg_sys_status_get_battery_remaining(msg);
telemetry_data.ibat = mavlink_msg_sys_status_get_current_battery(msg) / 10;
telemetry_data.rem_bat = mavlink_msg_sys_status_get_battery_remaining(msg);
#ifdef MAVLINK_PARAMS
telemetry_data.vbat_low = (getMavlinParamsValue(BATT_MONITOR) > 0)
&& (((float) telemetry_data.vbat / 10.0) < getMavlinParamsValue(LOW_VOLT)) && (telemetry_data.vbat > 50);
#else
telemetry_data.vbat_low = (telemetry_data.rem_bat < 10);
#endif
}
/*! \brief Recive rc channels
*
*/
static inline void REC_MAVLINK_MSG_ID_RC_CHANNELS_RAW(const mavlink_message_t* msg) {
telemetry_data.rc_rssi = (mavlink_msg_rc_channels_raw_get_rssi(msg) * 100) / 255;
}
/*! \brief Arducopter specific radio message
*
*/
static inline void REC_MAVLINK_MSG_ID_RADIO(const mavlink_message_t* msg) {
telemetry_data.pc_rssi = (mavlink_msg_radio_get_rssi(msg) * 100) / 255;
// telemetry_data.pc_rssi = mavlink_msg_radio_get_rssi(msg);
}
/*! \brief Hardbeat message
* \todo Fix hartbeat * on display title see \link telemetryWakeup telemetryWakeup \endlink
* and \link mav_title mav_title \endlink.
*/
static inline void REC_MAVLINK_MSG_ID_HEARTBEAT(const mavlink_message_t* msg) {
telemetry_data.mode = mavlink_msg_heartbeat_get_base_mode(msg);
telemetry_data.custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
telemetry_data.status = mavlink_msg_heartbeat_get_system_status(msg);
telemetry_data.active = (telemetry_data.mode & MAV_MODE_FLAG_SAFETY_ARMED) ? true : false;
mav_heartbeat = 3; // 450ms display '*'
mav_heartbeat_recv = 1;
}
@@ -362,6 +384,11 @@ static inline void handleMessage(mavlink_message_t* p_rxmsg) {
REC_MAVLINK_MSG_ID_SYS_STATUS(p_rxmsg);
watch_mav_req_start_data_stream = 20;
break;
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
REC_MAVLINK_MSG_ID_RC_CHANNELS_RAW(p_rxmsg);
break;
case MAVLINK_MSG_ID_RADIO:
REC_MAVLINK_MSG_ID_RADIO(p_rxmsg);
case MAVLINK_MSG_ID_HIL_CONTROLS:
REC_MAVLINK_MSG_ID_HIL_CONTROLS(p_rxmsg);
break;