From 7866740d62f781dbe021eec9989fedb5e4645ef9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 24 Apr 2012 22:17:56 +1000
Subject: [PATCH] MAVLink: make ACM build with MAVLink 1.0 possible in arduino
GUI
---
ArduCopter/APM_Config.h | 4 ++++
ArduCopter/ArduCopter.pde | 3 ++-
ArduCopter/GCS.h | 1 -
ArduCopter/GCS_Mavlink.pde | 43 ++++++++++++++++++++++++++++++++------
ArduCopter/Makefile | 4 ++--
ArduCopter/defines.h | 2 --
6 files changed, 45 insertions(+), 12 deletions(-)
diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index a92afc096..9a9aaec63 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -89,3 +89,7 @@
// #define MOT_6 CH_4
// #define MOT_7 CH_7
// #define MOT_8 CH_8
+
+// use this to enable the new MAVLink 1.0 protocol, instead of the
+// older 0.9 protocol
+// #define MAVLINK10 ENABLED
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 19b34a608..319f94156 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -94,7 +94,6 @@ http://code.google.com/p/ardupilot-mega/downloads/list
#include <ModeFilter.h> // Mode Filter from Filter library
#include <AverageFilter.h> // Mode Filter from Filter library
#include <AP_Relay.h> // APM relay
-#include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <memcheck.h>
// Configuration
@@ -102,6 +101,8 @@ http://code.google.com/p/ardupilot-mega/downloads/list
#include "config.h"
#include "config_channels.h"
+#include <GCS_MAVLink.h> // MAVLink GCS definitions
+
// Local modules
#include "Parameters.h"
#include "GCS.h"
diff --git a/ArduCopter/GCS.h b/ArduCopter/GCS.h
index 607fe197d..c10a7e0d6 100644
--- a/ArduCopter/GCS.h
+++ b/ArduCopter/GCS.h
@@ -8,7 +8,6 @@
#include <FastSerial.h>
#include <AP_Common.h>
-#include <GCS_MAVLink.h>
#include <GPS.h>
#include <Stream.h>
#include <stdint.h>
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 8732be583..8c9d2b2ba 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -29,7 +29,7 @@ static bool mavlink_active;
static NOINLINE void send_heartbeat(mavlink_channel_t chan)
{
-#ifdef MAVLINK10
+#if MAVLINK10 == ENABLED
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
uint8_t system_status = MAV_STATE_ACTIVE;
uint32_t custom_mode = control_mode;
@@ -102,7 +102,7 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
{
-#ifdef MAVLINK10
+#if MAVLINK10 == ENABLED
uint32_t control_sensors_present = 0;
uint32_t control_sensors_enabled;
uint32_t control_sensors_health;
@@ -265,6 +265,21 @@ static void NOINLINE send_ahrs(mavlink_channel_t chan)
#endif // HIL_MODE != HIL_MODE_ATTITUDE
#ifdef DESKTOP_BUILD
+void mavlink_simstate_send(uint8_t chan,
+ float roll,
+ float pitch,
+ float yaw,
+ float xAcc,
+ float yAcc,
+ float zAcc,
+ float p,
+ float q,
+ float r)
+{
+ mavlink_msg_simstate_send((mavlink_channel_t)chan,
+ roll, pitch, yaw, xAcc, yAcc, zAcc, p, q, r);
+}
+
// report simulator state
static void NOINLINE send_simstate(mavlink_channel_t chan)
{
@@ -286,7 +301,7 @@ static void NOINLINE send_hwstatus(mavlink_channel_t chan)
static void NOINLINE send_gps_raw(mavlink_channel_t chan)
{
-#ifdef MAVLINK10
+#if MAVLINK10 == ENABLED
uint8_t fix = g_gps->status();
if (fix == GPS::GPS_OK) {
fix = 3;
@@ -554,7 +569,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_GPS_RAW:
-#ifdef MAVLINK10
+#if MAVLINK10 == ENABLED
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
#else
CHECK_PAYLOAD_SIZE(GPS_RAW);
@@ -1050,7 +1065,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
-#ifdef MAVLINK10
+#if MAVLINK10 == ENABLED
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// decode
@@ -1251,7 +1266,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_set_mode_t packet;
mavlink_msg_set_mode_decode(msg, &packet);
-#ifdef MAVLINK10
+#if MAVLINK10 == ENABLED
if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
// we ignore base_mode as there is no sane way to map
// from that bitmap to a APM flight mode. We rely on
@@ -2172,3 +2187,19 @@ static void gcs_send_text_fmt(const prog_char_t *fmt, ...)
mavlink_send_message(MAVLINK_COMM_1, MSG_STATUSTEXT, 0);
}
}
+
+// this code was moved from libraries/GCS_MAVLink to allow compile
+// time selection of MAVLink 1.0
+BetterStream *mavlink_comm_0_port;
+BetterStream *mavlink_comm_1_port;
+
+mavlink_system_t mavlink_system = {7,1,0,0};
+
+uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
+{
+ if (sysid != mavlink_system.sysid)
+ return 1;
+ // Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
+ // If it is addressed to our system ID we assume it is for us
+ return 0; // no error
+}
diff --git a/ArduCopter/Makefile b/ArduCopter/Makefile
index 32e2e44a1..2beb16563 100644
--- a/ArduCopter/Makefile
+++ b/ArduCopter/Makefile
@@ -28,13 +28,13 @@ apm2beta:
make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DAPM2_BETA_HARDWARE"
mavlink10:
- make -f Makefile EXTRAFLAGS="-DMAVLINK10"
+ make -f Makefile EXTRAFLAGS="-DMAVLINK10=1"
sitl:
make -f ../libraries/Desktop/Makefile.desktop
sitl-mavlink10:
- make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10"
+ make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10=1"
sitl-octa:
make -f ../libraries/Desktop/Makefile.desktop octa
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 123d843a1..69803555e 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -224,8 +224,6 @@
#define RELAY_TOGGLE 5
#define STOP_REPEAT 10
-//#define MAV_CMD_CONDITION_YAW 23
-
// GCS Message ID's
/// NOTE: to ensure we never block on sending MAVLink messages
/// please keep each MSG_ to a single MAVLink message. If need be
--
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