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edgetx-gx12/radio/src/telemetry/mavlink.h
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bsongis a738f674cc Mavlink compilation failure
2015-07-09 22:22:28 +02:00

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/*
* Authors (alphabetical order)
* - Andre Bernet <bernet.andre@gmail.com>
* - Andreas Weitl
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Gabriel Birkus
* - Gerard Valade <gerard.valade@gmail.com>
* - Jean-Pierre Parisy
* - Karl Szmutny
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rienk de Jong
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* Adapted from mavlink for ardupilot
*
* This program is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License version 2 as published
* by the Free Software Foundation.
*
* This program 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.
*
*/
/*! \file mavlink.h
* Mavlink include file
*/
#ifndef _MAVLINK_H_
#define _MAVLINK_H_
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#define MAVLINK_COMM_NUM_BUFFERS 1
#include "GCS_MAVLink/include_v1.0/mavlink_types.h"
#include "serial.h"
#include "opentx.h"
#include "serial.h"
//#include "include/mavlink_helpers.h"
extern mavlink_system_t mavlink_system;
extern void SERIAL_start_uart_send();
extern void SERIAL_end_uart_send();
extern void SERIAL_send_uart_bytes(const uint8_t * buf, uint16_t len);
# define MAV_SYSTEM_ID 1
//mavlink_system.type = 2; //MAV_QUADROTOR;
#define MAVLINK_START_UART_SEND(chan,len) SERIAL_start_uart_send()
#define MAVLINK_END_UART_SEND(chan,len) SERIAL_end_uart_send()
#define MAVLINK_SEND_UART_BYTES(chan,buf,len) SERIAL_send_uart_bytes(buf,len)
#include "GCS_MAVLink/include_v1.0/ardupilotmega/mavlink.h"
//#define MAVLINK_PARAMS
//#define DUMP_RX_TX
#define ERROR_NUM_MODES 99
#define ERROR_MAV_ACTION_NB 99
// Auto Pilot modes
// ----------------
#define AC_STABILIZE 0 // hold level position
#define AC_ACRO 1 // rate control
#define AC_ALT_HOLD 2 // AUTO control
#define AC_AUTO 3 // AUTO control
#define AC_GUIDED 4 // AUTO control
#define AC_LOITER 5 // Hold a single location
#define AC_RTL 6 // AUTO control
#define AC_CIRCLE 7 // AUTO control
#define AC_POSITION 8 // AUTO control
#define AC_LAND 9 // AUTO control
#define AC_OF_LOITER 10 // Hold a single location using optical flow
// sensor
#define AC_TOY_A 11 // THOR Enum for Toy mode
#define AC_TOY_M 12 // THOR Enum for Toy mode
#define AC_NUM_MODES 13
// Mavlink airframe types
#define MAVLINK_ARDUCOPTER 0
#define MAVLINK_ARDUPLANE 1
#define MAVLINK_INVALID_TYPE 2
#define AP_MANUAL 0
#define AP_CIRCLE 1
#define AP_STABILIZE 2
#define AP_TRAINING 3
#define AP_FLY_BY_WIRE_A 5
#define AP_FLY_BY_WIRE_B 6
#define AP_AUTO 10
#define AP_RTL 11
#define AP_LOITER 12
#define AP_GUIDED 15
#define AP_INITIALISING 16
#define AP_NUM_MODES 17
static const uint8_t ap_modes_lut[18] PROGMEM = {0,1,2,3,12,4,5,12,12,12,6,7,8,9,12,12,10,11};
/*
* Type definitions
*/
#ifdef MAVLINK_PARAMS
enum ACM_PARAMS {
RATE_YAW_P, // Rate Yaw
RATE_YAW_I, // Rate Yaw
STB_YAW_P, // Stabilize Yaw
STB_YAW_I, // Stabilize Yaw
RATE_PIT_P, // Rate Pitch
RATE_PIT_I, // Rate Pitch
STB_PIT_P, // Stabilize Pitch
STB_PIT_I, // Stabilize Pitch
RATE_RLL_P, // Rate Roll
RATE_RLL_I, // Rate Roll
STB_RLL_P, // Stabilize Roll
STB_RLL_I, // Stabilize Roll
THR_ALT_P, // THR_BAR, // Altitude Hold
THR_ALT_I, // THR_BAR, // Altitude Hold
HLD_LON_P, // Loiter
HLD_LON_I, // Loiter
HLD_LAT_P, // Loiter
HLD_LAT_I, // Loiter
NAV_LON_P, // Nav WP
NAV_LON_I, // Nav WP
NAV_LAT_P, // Nav WPs
NAV_LAT_I, // Nav WP
NB_PID_PARAMS, // Number of PI Parameters
LOW_VOLT = NB_PID_PARAMS,
IN_VOLT, //
BATT_MONITOR, //
BATT_CAPACITY, //
NB_PARAMS
};
//#define NB_PID_PARAMS 24
#define NB_COL_PARAMS 2
#define NB_ROW_PARAMS ((NB_PARAMS+1)/NB_COL_PARAMS)
typedef struct MavlinkParam_ {
uint8_t repeat :4;
uint8_t valid :4;
float value;
} MavlinkParam_t;
#endif
typedef struct Location_ {
float lat; ///< Latitude in degrees
float lon; ///< Longitude in degrees
float gps_alt; ///< Altitude in meters
float rel_alt;
} Location_t;
typedef struct Telemetry_Data_ {
// INFOS
uint8_t status; ///< System status flag, see MAV_STATUS ENUM
uint8_t type;
uint8_t autopilot;
uint8_t type_autopilot;
uint16_t packet_drop;
uint16_t packet_fixed;
uint8_t radio_sysid;
uint8_t radio_compid;
uint8_t mav_sysid;
uint8_t mav_compid;
uint8_t mode;
uint32_t custom_mode;
bool active;
uint8_t nav_mode;
uint8_t rcv_control_mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
uint8_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt)
uint8_t ibat; ///< Battery voltage, in millivolts (1 = 1 millivolt)
uint8_t rem_bat; ///< Battery voltage, in millivolts (1 = 1 millivolt)
bool vbat_low;
uint8_t rc_rssi;
uint8_t pc_rssi;
uint8_t debug;
// MSG ACTION / ACK
uint8_t req_mode;
int8_t ack_result;
// GPS
uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
uint8_t satellites_visible; ///< Number of satellites visible
Location_t loc_current;
float eph;
uint16_t course;
float v; // Ground speed
// Navigation
uint16_t heading;
uint16_t bearing;
#ifdef MAVLINK_PARAMS
// Params
MavlinkParam_t params[NB_PARAMS];
#endif
} Telemetry_Data_t;
// Telemetry data hold
extern Telemetry_Data_t telemetry_data;
/*
* Funtion definitions
*/
extern inline uint8_t MAVLINK_CtrlMode2Action(uint8_t mode) {
uint8_t action;
return action;
}
#if 0
extern inline uint8_t MAVLINK_Action2CtrlMode(uint8_t action) {
uint8_t mode = ERROR_NUM_MODES;
switch (action) {
return action;
}
}
#endif
void telemetryWakeup();
void MAVLINK_Init(void);
void menuTelemetryMavlink(uint8_t event);
void MAVLINK10mspoll(uint16_t time);
#ifdef MAVLINK_PARAMS
void putsMavlinParams(uint8_t x, uint8_t y, uint8_t idx, uint8_t att);
void setMavlinParamsValue(uint8_t idx, float val);
inline uint8_t getIdxParam(uint8_t rowIdx, uint8_t colIdx) {
return (rowIdx * NB_COL_PARAMS) + colIdx;
}
inline MavlinkParam_t * getParam(uint8_t idx) {
return &telemetry_data.params[idx];
}
inline float getMavlinParamsValue(uint8_t idx) {
return telemetry_data.params[idx].value;
}
inline uint8_t isDirtyParamsValue(uint8_t idx) {
return telemetry_data.params[idx].repeat;
}
inline uint8_t isValidParamsValue(uint8_t idx) {
return telemetry_data.params[idx].valid;
}
inline float getCoefPrecis(uint8_t precis) {
switch (precis) {
case 1:
return 10.0;
case 2:
return 100.0;
case 3:
return 1000.0;
}
return 1.0;
}
inline int16_t getMaxMavlinParamsValue(uint8_t idx) {
int16_t max = 0;
switch (idx) {
case LOW_VOLT:
max = 2500; // 25.0 Volt max
break;
case IN_VOLT:
max = 900; // 7.00 Volt max
break;
case BATT_MONITOR:
max = 3;
break;
case BATT_CAPACITY:
max = 7000; // 7000 mAh max
break;
default:
if (idx < NB_PID_PARAMS) {
max = (idx & 0x01) ? 1000 : 750;
}
break;
}
return max;
}
inline uint8_t getPrecisMavlinParamsValue(uint8_t idx) {
uint8_t precis = 2;
switch (idx) {
case LOW_VOLT:
precis = 2;
break;
case IN_VOLT:
precis = 2;
break;
case BATT_MONITOR:
precis = 0;
break;
case BATT_CAPACITY:
precis = 0;
break;
default:
if (idx < NB_PID_PARAMS) {
if (idx & 0x01)
precis = 3;
}
break;
}
return precis;
}
void lcd_outdezFloat(uint8_t x, uint8_t y, float val, uint8_t precis, uint8_t mode);
#endif
#endif
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