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Basic implementation of RC over MAVLink

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This commit is contained in:
Harry Phillips 2021-02-28 21:28:46 +00:00
parent 9cb3057ed7
commit a7d1487741
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GPG key ID: E4F581AA073CD264
3 changed files with 64 additions and 9 deletions
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53
src/main/rx/mavlink.c
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@ -40,12 +40,59 @@ FILE_COMPILE_FOR_SPEED
#include "rx/rx.h"
#include "rx/mavlink.h"
#define MAVLINK_MAX_CHANNEL 18
#define MAVLINK_CHANNEL_COUNT 18
static uint16_t mavlinkChannelData[MAVLINK_CHANNEL_COUNT];
void mavlinkRxHandleMessage(const mavlink_rc_channels_override_t *msg) {
mavlinkChannelData[0] = msg->chan1_raw;
mavlinkChannelData[1] = msg->chan2_raw;
mavlinkChannelData[2] = msg->chan3_raw;
mavlinkChannelData[3] = msg->chan4_raw;
mavlinkChannelData[4] = msg->chan5_raw;
mavlinkChannelData[5] = msg->chan6_raw;
mavlinkChannelData[6] = msg->chan7_raw;
mavlinkChannelData[7] = msg->chan8_raw;
mavlinkChannelData[8] = msg->chan9_raw;
mavlinkChannelData[9] = msg->chan10_raw;
mavlinkChannelData[10] = msg->chan11_raw;
mavlinkChannelData[11] = msg->chan12_raw;
mavlinkChannelData[12] = msg->chan13_raw;
mavlinkChannelData[13] = msg->chan14_raw;
mavlinkChannelData[14] = msg->chan15_raw;
mavlinkChannelData[15] = msg->chan16_raw;
mavlinkChannelData[16] = msg->chan17_raw;
mavlinkChannelData[17] = msg->chan18_raw;
}
static uint8_t mavlinkFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
{
return RX_FRAME_COMPLETE;
}
static uint16_t mavlinkReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
{
UNUSED(rxRuntimeConfig);
// MAVLink values are sent as PWM values in microseconds so no conversion is needed
return mavlinkChannelData[chan];
}
bool mavlinkRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
{
// TODO
return false;
// TODO failsafe
UNUSED(rxConfig);
rxRuntimeConfig->channelData = mavlinkChannelData;
rxRuntimeConfig->channelCount = MAVLINK_CHANNEL_COUNT;
rxRuntimeConfig->rxRefreshRate = 11000;
rxRuntimeConfig->rcReadRawFn = mavlinkReadRawRC;
rxRuntimeConfig->rcFrameStatusFn = mavlinkFrameStatus;
for (int ii = 0; ii < MAVLINK_CHANNEL_COUNT; ++ii) {
mavlinkChannelData[ii] = (16 * PWM_RANGE_MIDDLE) / 10 - 1408;
}
return true;
}
#endif

3
src/main/rx/mavlink.h
View file

@ -17,4 +17,7 @@
#pragma once
#include "common/mavlink.h"
void mavlinkRxHandleMessage(const mavlink_rc_channels_override_t *msg);
bool mavlinkRxInit(const struct rxConfig_s *initialRxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig);

17
src/main/telemetry/mavlink.c
View file

@ -67,6 +67,7 @@
#include "navigation/navigation_private.h"
#include "rx/rx.h"
#include "rx/mavlink.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
@ -86,13 +87,7 @@
#include "scheduler/scheduler.h"
// mavlink library uses unnamed unions that's causes GCC to complain if -Wpedantic is used
// until this is resolved in mavlink library - ignore -Wpedantic for mavlink code
// TODO check if this is resolved in V2 library
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpedantic"
#include "common/mavlink.h"
#pragma GCC diagnostic pop
#define TELEMETRY_MAVLINK_PORT_MODE MODE_RXTX
#define TELEMETRY_MAVLINK_MAXRATE 50
@ -1048,7 +1043,17 @@ static bool handleIncoming_MISSION_REQUEST(void)
}
static bool handleIncoming_RC_CHANNELS_OVERRIDE(void) {
mavlink_rc_channels_override_t msg;
mavlink_msg_rc_channels_override_decode(&mavRecvMsg, &msg);
// Check if this message is for us
if (msg.target_system == mavSystemId) {
mavlinkRxHandleMessage(&msg);
// TODO do we need to send an ack?
return true;
}
return false;
}
static bool processMAVLinkIncomingTelemetry(void)