#include <mavlink_receiver.h>

Inheritance diagram for MavlinkReceiver:

Collaboration diagram for MavlinkReceiver:

Public Member Functions
	MavlinkReceiver (Mavlink *parent)

	~MavlinkReceiver ()=default

Static Public Member Functions
static void	receive_start (pthread_t thread, Mavlink parent)
	Start the receiver thread. More...

static void *	start_helper (void *context)

Private Member Functions
void	acknowledge (uint8_t sysid, uint8_t compid, uint16_t command, uint8_t result)

template<class T >
void	handle_message_command_both (mavlink_message_t *msg, const T &cmd_mavlink, const vehicle_command_s &vehicle_command)
	Common method to handle both mavlink command types. More...

void	handle_message (mavlink_message_t *msg)

void	handle_message_adsb_vehicle (mavlink_message_t *msg)

void	handle_message_att_pos_mocap (mavlink_message_t *msg)

void	handle_message_battery_status (mavlink_message_t *msg)

void	handle_message_cellular_status (mavlink_message_t *msg)

void	handle_message_collision (mavlink_message_t *msg)

void	handle_message_command_ack (mavlink_message_t *msg)

void	handle_message_command_int (mavlink_message_t *msg)

void	handle_message_command_long (mavlink_message_t *msg)

void	handle_message_debug (mavlink_message_t *msg)

void	handle_message_debug_float_array (mavlink_message_t *msg)

void	handle_message_debug_vect (mavlink_message_t *msg)

void	handle_message_distance_sensor (mavlink_message_t *msg)

void	handle_message_follow_target (mavlink_message_t *msg)

void	handle_message_gps_global_origin (mavlink_message_t *msg)

void	handle_message_gps_rtcm_data (mavlink_message_t *msg)

void	handle_message_heartbeat (mavlink_message_t *msg)

void	handle_message_hil_gps (mavlink_message_t *msg)

void	handle_message_hil_optical_flow (mavlink_message_t *msg)

void	handle_message_hil_sensor (mavlink_message_t *msg)

void	handle_message_hil_state_quaternion (mavlink_message_t *msg)

void	handle_message_landing_target (mavlink_message_t *msg)

void	handle_message_logging_ack (mavlink_message_t *msg)

void	handle_message_manual_control (mavlink_message_t *msg)

void	handle_message_named_value_float (mavlink_message_t *msg)

void	handle_message_obstacle_distance (mavlink_message_t *msg)

void	handle_message_odometry (mavlink_message_t *msg)

void	handle_message_optical_flow_rad (mavlink_message_t *msg)

void	handle_message_ping (mavlink_message_t *msg)

void	handle_message_play_tune (mavlink_message_t *msg)

void	handle_message_radio_status (mavlink_message_t *msg)

void	handle_message_rc_channels_override (mavlink_message_t *msg)

void	handle_message_serial_control (mavlink_message_t *msg)

void	handle_message_set_actuator_control_target (mavlink_message_t *msg)

void	handle_message_set_attitude_target (mavlink_message_t *msg)

void	handle_message_set_mode (mavlink_message_t *msg)

void	handle_message_set_position_target_local_ned (mavlink_message_t *msg)

void	handle_message_set_position_target_global_int (mavlink_message_t *msg)

void	handle_message_statustext (mavlink_message_t *msg)

void	handle_message_trajectory_representation_waypoints (mavlink_message_t *msg)

void	handle_message_utm_global_position (mavlink_message_t *msg)

void	handle_message_vision_position_estimate (mavlink_message_t *msg)

void	handle_message_onboard_computer_status (mavlink_message_t *msg)

void	Run ()
	Receive data from UART/UDP. More...

int	set_message_interval (int msgId, float interval, int data_rate=-1)
	Set the interval at which the given message stream is published. More...

void	get_message_interval (int msgId)

switch_pos_t	decode_switch_pos (uint16_t buttons, unsigned sw)
	Decode a switch position from a bitfield. More...

int	decode_switch_pos_n (uint16_t buttons, unsigned sw)
	Decode a switch position from a bitfield and state. More...

bool	evaluate_target_ok (int command, int target_system, int target_component)

void	send_flight_information ()

void	send_storage_information (int storage_id)

void	fill_thrust (float *thrust_body_array, uint8_t vehicle_type, float thrust)

void	update_params ()
	Updates the battery, optical flow, and flight ID subscribed parameters. More...

	DEFINE_PARAMETERS ((ParamFloat< px4::params::BAT_CRIT_THR >) _param_bat_crit_thr,(ParamFloat< px4::params::BAT_EMERGEN_THR >) _param_bat_emergen_thr,(ParamFloat< px4::params::BAT_LOW_THR >) _param_bat_low_thr,(ParamInt< px4::params::COM_FLIGHT_UUID >) _param_com_flight_uuid,(ParamFloat< px4::params::SENS_FLOW_MAXHGT >) _param_sens_flow_maxhgt,(ParamFloat< px4::params::SENS_FLOW_MAXR >) _param_sens_flow_maxr,(ParamFloat< px4::params::SENS_FLOW_MINHGT >) _param_sens_flow_minhgt,(ParamInt< px4::params::SENS_FLOW_ROT >) _param_sens_flow_rot)

	MavlinkReceiver (const MavlinkReceiver &)=delete

MavlinkReceiver	operator= (const MavlinkReceiver &)=delete

Private Attributes
Mavlink *	_mavlink

MavlinkFTP	_mavlink_ftp

MavlinkLogHandler	_mavlink_log_handler

MavlinkMissionManager	_mission_manager

MavlinkParametersManager	_parameters_manager

MavlinkTimesync	_mavlink_timesync

mavlink_status_t	_status {}
	receiver status, used for mavlink_parse_char() More...

uORB::Publication< actuator_controls_s >	_actuator_controls_pubs [4] {ORB_ID(actuator_controls_0), ORB_ID(actuator_controls_1), ORB_ID(actuator_controls_2), ORB_ID(actuator_controls_3)}

uORB::Publication< airspeed_s >	_airspeed_pub {ORB_ID(airspeed)}

uORB::Publication< battery_status_s >	_battery_pub {ORB_ID(battery_status)}

uORB::Publication< cellular_status_s >	_cellular_status_pub {ORB_ID(cellular_status)}

uORB::Publication< collision_report_s >	_collision_report_pub {ORB_ID(collision_report)}

uORB::Publication< debug_array_s >	_debug_array_pub {ORB_ID(debug_array)}

uORB::Publication< debug_key_value_s >	_debug_key_value_pub {ORB_ID(debug_key_value)}

uORB::Publication< debug_value_s >	_debug_value_pub {ORB_ID(debug_value)}

uORB::Publication< debug_vect_s >	_debug_vect_pub {ORB_ID(debug_vect)}

uORB::Publication< follow_target_s >	_follow_target_pub {ORB_ID(follow_target)}

uORB::Publication< landing_target_pose_s >	_landing_target_pose_pub {ORB_ID(landing_target_pose)}

uORB::Publication< log_message_s >	_log_message_pub {ORB_ID(log_message)}

uORB::Publication< obstacle_distance_s >	_obstacle_distance_pub {ORB_ID(obstacle_distance)}

uORB::Publication< offboard_control_mode_s >	_offboard_control_mode_pub {ORB_ID(offboard_control_mode)}

uORB::Publication< onboard_computer_status_s >	_onboard_computer_status_pub {ORB_ID(onboard_computer_status)}

uORB::Publication< optical_flow_s >	_flow_pub {ORB_ID(optical_flow)}

uORB::Publication< position_setpoint_triplet_s >	_pos_sp_triplet_pub {ORB_ID(position_setpoint_triplet)}

uORB::Publication< vehicle_attitude_s >	_attitude_pub {ORB_ID(vehicle_attitude)}

uORB::Publication< vehicle_attitude_setpoint_s >	_att_sp_pub {ORB_ID(vehicle_attitude_setpoint)}

uORB::Publication< vehicle_attitude_setpoint_s >	_mc_virtual_att_sp_pub {ORB_ID(mc_virtual_attitude_setpoint)}

uORB::Publication< vehicle_attitude_setpoint_s >	_fw_virtual_att_sp_pub {ORB_ID(fw_virtual_attitude_setpoint)}

uORB::Publication< vehicle_global_position_s >	_global_pos_pub {ORB_ID(vehicle_global_position)}

uORB::Publication< vehicle_gps_position_s >	_gps_pub {ORB_ID(vehicle_gps_position)}

uORB::Publication< vehicle_land_detected_s >	_land_detector_pub {ORB_ID(vehicle_land_detected)}

uORB::Publication< vehicle_local_position_s >	_local_pos_pub {ORB_ID(vehicle_local_position)}

uORB::Publication< vehicle_odometry_s >	_mocap_odometry_pub {ORB_ID(vehicle_mocap_odometry)}

uORB::Publication< vehicle_odometry_s >	_visual_odometry_pub {ORB_ID(vehicle_visual_odometry)}

uORB::Publication< vehicle_rates_setpoint_s >	_rates_sp_pub {ORB_ID(vehicle_rates_setpoint)}

uORB::Publication< vehicle_trajectory_waypoint_s >	_trajectory_waypoint_pub {ORB_ID(vehicle_trajectory_waypoint)}

uORB::PublicationMulti< distance_sensor_s >	_distance_sensor_pub {ORB_ID(distance_sensor), ORB_PRIO_LOW}

uORB::PublicationMulti< distance_sensor_s >	_flow_distance_sensor_pub {ORB_ID(distance_sensor), ORB_PRIO_LOW}

uORB::PublicationMulti< input_rc_s >	_rc_pub {ORB_ID(input_rc), ORB_PRIO_LOW}

uORB::PublicationMulti< manual_control_setpoint_s >	_manual_pub {ORB_ID(manual_control_setpoint), ORB_PRIO_LOW}

uORB::PublicationMulti< ping_s >	_ping_pub {ORB_ID(ping), ORB_PRIO_LOW}

uORB::PublicationMulti< radio_status_s >	_radio_status_pub {ORB_ID(radio_status), ORB_PRIO_LOW}

uORB::PublicationMulti< sensor_accel_s >	_accel_pub {ORB_ID(sensor_accel), ORB_PRIO_LOW}

uORB::PublicationMulti< sensor_baro_s >	_baro_pub {ORB_ID(sensor_baro), ORB_PRIO_LOW}

uORB::PublicationMulti< sensor_gyro_s >	_gyro_pub {ORB_ID(sensor_gyro), ORB_PRIO_LOW}

uORB::PublicationMulti< sensor_mag_s >	_mag_pub {ORB_ID(sensor_mag), ORB_PRIO_LOW}

uORB::PublicationQueued< gps_inject_data_s >	_gps_inject_data_pub {ORB_ID(gps_inject_data)}

uORB::PublicationQueued< transponder_report_s >	_transponder_report_pub {ORB_ID(transponder_report)}

uORB::PublicationQueued< vehicle_command_ack_s >	_cmd_ack_pub {ORB_ID(vehicle_command_ack)}

uORB::PublicationQueued< vehicle_command_s >	_cmd_pub {ORB_ID(vehicle_command)}

uORB::Subscription	_actuator_armed_sub {ORB_ID(actuator_armed)}

uORB::Subscription	_control_mode_sub {ORB_ID(vehicle_control_mode)}

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}

uORB::Subscription	_vehicle_attitude_sub {ORB_ID(vehicle_attitude)}

uORB::Subscription	_vehicle_local_position_sub {ORB_ID(vehicle_local_position)}

uORB::Subscription	_vehicle_status_sub {ORB_ID(vehicle_status)}

uint8_t	_mom_switch_pos [MOM_SWITCH_COUNT] {}

uint16_t	_mom_switch_state {0}

uint64_t	_global_ref_timestamp {0}

map_projection_reference_s	_hil_local_proj_ref {}

float	_hil_local_alt0 {0.0f}

bool	_hil_local_proj_inited {false}

hrt_abstime	_last_utm_global_pos_com {0}

Static Private Attributes
static constexpr unsigned int	MOM_SWITCH_COUNT {8}

Detailed Description

Definition at line 106 of file mavlink_receiver.h.

Constructor & Destructor Documentation

◆ MavlinkReceiver() [1/2]

MavlinkReceiver::MavlinkReceiver ( Mavlink * parent )

Definition at line 80 of file mavlink_receiver.cpp.

◆ ~MavlinkReceiver()

MavlinkReceiver::~MavlinkReceiver ( )

default

◆ MavlinkReceiver() [2/2]

MavlinkReceiver::MavlinkReceiver ( const MavlinkReceiver & )

privatedelete

Member Function Documentation

◆ acknowledge()

void MavlinkReceiver::acknowledge	(	uint8_t	sysid,
		uint8_t	compid,
		uint16_t	command,
		uint8_t	result
	)

private

Definition at line 92 of file mavlink_receiver.cpp.

References _cmd_ack_pub, command, hrt_absolute_time(), uORB::PublicationQueued< T >::publish(), and vehicle_command_ack_s::timestamp.

Referenced by handle_message_command_both().

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◆ decode_switch_pos()

switch_pos_t MavlinkReceiver::decode_switch_pos	(	uint16_t	buttons,
		unsigned	sw
	)

private

Decode a switch position from a bitfield.

Definition at line 1777 of file mavlink_receiver.cpp.

◆ decode_switch_pos_n()

int MavlinkReceiver::decode_switch_pos_n	(	uint16_t	buttons,
		unsigned	sw
	)

private

Decode a switch position from a bitfield and state.

Definition at line 1784 of file mavlink_receiver.cpp.

References _mom_switch_pos, _mom_switch_state, and MOM_SWITCH_COUNT.

Referenced by handle_message_manual_control().

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◆ DEFINE_PARAMETERS()

MavlinkReceiver::DEFINE_PARAMETERS	(	(ParamFloat< px4::params::BAT_CRIT_THR >)	_param_bat_crit_thr,
		(ParamFloat< px4::params::BAT_EMERGEN_THR >)	_param_bat_emergen_thr,
		(ParamFloat< px4::params::BAT_LOW_THR >)	_param_bat_low_thr,
		(ParamInt< px4::params::COM_FLIGHT_UUID >)	_param_com_flight_uuid,
		(ParamFloat< px4::params::SENS_FLOW_MAXHGT >)	_param_sens_flow_maxhgt,
		(ParamFloat< px4::params::SENS_FLOW_MAXR >)	_param_sens_flow_maxr,
		(ParamFloat< px4::params::SENS_FLOW_MINHGT >)	_param_sens_flow_minhgt,
		(ParamInt< px4::params::SENS_FLOW_ROT >)	_param_sens_flow_rot
	)

private

◆ evaluate_target_ok()

bool MavlinkReceiver::evaluate_target_ok	(	int	command,
		int	target_system,
		int	target_component
	)

private

Definition at line 313 of file mavlink_receiver.cpp.

References mavlink_system.

Referenced by handle_message_command_both().

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◆ fill_thrust()

void MavlinkReceiver::fill_thrust	(	float *	thrust_body_array,
		uint8_t	vehicle_type,
		float	thrust
	)

private

Definition at line 1311 of file mavlink_receiver.cpp.

References _mavlink, Mavlink::get_system_type(), and VEHICLE_TYPE_FIXED_WING.

Referenced by handle_message_set_attitude_target().

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◆ get_message_interval()

void MavlinkReceiver::get_message_interval ( int msgId )

private

Definition at line 2014 of file mavlink_receiver.cpp.

References _mavlink, Mavlink::get_channel(), and Mavlink::get_streams().

Referenced by handle_message_command_both().

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◆ handle_message()

void MavlinkReceiver::handle_message ( mavlink_message_t * msg )

private

Definition at line 106 of file mavlink_receiver.cpp.

References _mavlink, Mavlink::get_hil_enabled(), Mavlink::get_use_hil_gps(), handle_message_adsb_vehicle(), handle_message_att_pos_mocap(), handle_message_battery_status(), handle_message_cellular_status(), handle_message_collision(), handle_message_command_ack(), handle_message_command_int(), handle_message_command_long(), handle_message_debug(), handle_message_debug_float_array(), handle_message_debug_vect(), handle_message_distance_sensor(), handle_message_follow_target(), handle_message_gps_global_origin(), handle_message_gps_rtcm_data(), handle_message_heartbeat(), handle_message_hil_gps(), handle_message_hil_optical_flow(), handle_message_hil_sensor(), handle_message_hil_state_quaternion(), handle_message_landing_target(), handle_message_logging_ack(), handle_message_manual_control(), handle_message_named_value_float(), handle_message_obstacle_distance(), handle_message_odometry(), handle_message_onboard_computer_status(), handle_message_optical_flow_rad(), handle_message_ping(), handle_message_play_tune(), handle_message_radio_status(), handle_message_rc_channels_override(), handle_message_serial_control(), handle_message_set_actuator_control_target(), handle_message_set_attitude_target(), handle_message_set_mode(), handle_message_set_position_target_global_int(), handle_message_set_position_target_local_ned(), handle_message_statustext(), handle_message_trajectory_representation_waypoints(), handle_message_utm_global_position(), handle_message_vision_position_estimate(), mavlink_system, and Mavlink::set_has_received_messages().

Referenced by Run().

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◆ handle_message_adsb_vehicle()

void MavlinkReceiver::handle_message_adsb_vehicle ( mavlink_message_t * msg )

private

Definition at line 2222 of file mavlink_receiver.cpp.

References _transponder_report_pub, hrt_absolute_time(), M_PI_F, uORB::PublicationQueued< T >::publish(), and transponder_report_s::timestamp.

Referenced by handle_message().

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◆ handle_message_att_pos_mocap()

void MavlinkReceiver::handle_message_att_pos_mocap ( mavlink_message_t * msg )

private

Definition at line 710 of file mavlink_receiver.cpp.

References _mavlink_timesync, _mocap_odometry_pub, uORB::Publication< T >::publish(), MavlinkTimesync::sync_stamp(), and vehicle_odometry_s::timestamp.

Referenced by handle_message().

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◆ handle_message_battery_status()

void MavlinkReceiver::handle_message_battery_status ( mavlink_message_t * msg )

private

Definition at line 1598 of file mavlink_receiver.cpp.

References _battery_pub, hrt_absolute_time(), mavlink_system, and uORB::Publication< T >::publish().

Referenced by handle_message().

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◆ handle_message_cellular_status()

void MavlinkReceiver::handle_message_cellular_status ( mavlink_message_t * msg )

private

Definition at line 2202 of file mavlink_receiver.cpp.

References _cellular_status_pub, hrt_absolute_time(), uORB::Publication< T >::publish(), status, and cellular_status_s::timestamp.

Referenced by handle_message().

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◆ handle_message_collision()

void MavlinkReceiver::handle_message_collision ( mavlink_message_t * msg )

private

Definition at line 2329 of file mavlink_receiver.cpp.

References _collision_report_pub, hrt_absolute_time(), uORB::Publication< T >::publish(), and collision_report_s::timestamp.

Referenced by handle_message().

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◆ handle_message_command_ack()

void MavlinkReceiver::handle_message_command_ack ( mavlink_message_t * msg )

private

Definition at line 533 of file mavlink_receiver.cpp.

References _cmd_ack_pub, _mavlink, Mavlink::get_channel(), MavlinkCommandSender::handle_mavlink_command_ack(), hrt_absolute_time(), MavlinkCommandSender::instance(), uORB::PublicationQueued< T >::publish(), and vehicle_command_ack_s::timestamp.

Referenced by handle_message().

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◆ handle_message_command_both()

template<class T >

void MavlinkReceiver::handle_message_command_both	(	mavlink_message_t *	msg,
		const T &	cmd_mavlink,
		const vehicle_command_s &	vehicle_command
	)

private

Common method to handle both mavlink command types.

T is one of mavlink_command_int_t or mavlink_command_long_t.

Definition at line 452 of file mavlink_receiver.cpp.

References _cmd_pub, _mavlink, acknowledge(), Mavlink::configure_stream_threadsafe(), evaluate_target_ok(), f(), Mavlink::get_data_rate(), get_message_interval(), mavlink_system, uORB::PublicationQueued< T >::publish(), Mavlink::request_stop_ulog_streaming(), Mavlink::send_autopilot_capabilites(), send_flight_information(), Mavlink::send_protocol_version(), Mavlink::send_statustext_critical(), send_storage_information(), set_message_interval(), and Mavlink::try_start_ulog_streaming().

Referenced by handle_message_command_int(), and handle_message_command_long().

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◆ handle_message_command_int()

void MavlinkReceiver::handle_message_command_int ( mavlink_message_t * msg )

private

Definition at line 423 of file mavlink_receiver.cpp.

References handle_message_command_both(), hrt_absolute_time(), and vehicle_command_s::timestamp.

Referenced by handle_message().

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◆ handle_message_command_long()

void MavlinkReceiver::handle_message_command_long ( mavlink_message_t * msg )

private

Definition at line 393 of file mavlink_receiver.cpp.

References handle_message_command_both(), hrt_absolute_time(), and vehicle_command_s::timestamp.

Referenced by handle_message().

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◆ handle_message_debug()

void MavlinkReceiver::handle_message_debug ( mavlink_message_t * msg )

private

Definition at line 2522 of file mavlink_receiver.cpp.

References _debug_value_pub, hrt_absolute_time(), uORB::Publication< T >::publish(), and debug_value_s::timestamp.

Referenced by handle_message().

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◆ handle_message_debug_float_array()

void MavlinkReceiver::handle_message_debug_float_array ( mavlink_message_t * msg )

private

Definition at line 2555 of file mavlink_receiver.cpp.

References _debug_array_pub, hrt_absolute_time(), uORB::Publication< T >::publish(), and debug_array_s::timestamp.

Referenced by handle_message().

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◆ handle_message_debug_vect()

void MavlinkReceiver::handle_message_debug_vect ( mavlink_message_t * msg )

private

Definition at line 2537 of file mavlink_receiver.cpp.

References _debug_vect_pub, hrt_absolute_time(), uORB::Publication< T >::publish(), and debug_vect_s::timestamp.

Referenced by handle_message().

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◆ handle_message_distance_sensor()

void MavlinkReceiver::handle_message_distance_sensor ( mavlink_message_t * msg )

private

Definition at line 683 of file mavlink_receiver.cpp.

References _distance_sensor_pub, f(), hrt_absolute_time(), uORB::PublicationMulti< T >::publish(), and distance_sensor_s::timestamp.

Referenced by handle_message().

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◆ handle_message_follow_target()

void MavlinkReceiver::handle_message_follow_target ( mavlink_message_t * msg )

private

Definition at line 2167 of file mavlink_receiver.cpp.

References _follow_target_pub, hrt_absolute_time(), uORB::Publication< T >::publish(), and follow_target_s::timestamp.

Referenced by handle_message().

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◆ handle_message_gps_global_origin()

void MavlinkReceiver::handle_message_gps_global_origin ( mavlink_message_t * msg )

private

Definition at line 1173 of file mavlink_receiver.cpp.

References _global_ref_timestamp, f(), globallocalconverter_init(), globallocalconverter_initialized(), and hrt_absolute_time().

Referenced by handle_message().

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◆ handle_message_gps_rtcm_data()

void MavlinkReceiver::handle_message_gps_rtcm_data ( mavlink_message_t * msg )

private

Definition at line 2349 of file mavlink_receiver.cpp.

References _gps_inject_data_pub, gps_inject_data_s::len, math::min(), and uORB::PublicationQueued< T >::publish().

Referenced by handle_message().

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◆ handle_message_heartbeat()

void MavlinkReceiver::handle_message_heartbeat ( mavlink_message_t * msg )

private

Definition at line 1946 of file mavlink_receiver.cpp.

References _mavlink, Mavlink::get_channel(), Mavlink::get_telemetry_status(), telemetry_status_s::heartbeat_time, hrt_absolute_time(), mavlink_system, ORB_MULTI_MAX_INSTANCES, telemetry_status_s::remote_component_id, telemetry_status_s::remote_system_id, telemetry_status_s::remote_system_status, and telemetry_status_s::remote_type.

Referenced by handle_message().

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◆ handle_message_hil_gps()

void MavlinkReceiver::handle_message_hil_gps ( mavlink_message_t * msg )

private

Definition at line 2129 of file mavlink_receiver.cpp.

Referenced by handle_message().

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◆ handle_message_hil_optical_flow()

void MavlinkReceiver::handle_message_hil_optical_flow ( mavlink_message_t * msg )

private

Definition at line 615 of file mavlink_receiver.cpp.

References _flow_distance_sensor_pub, _flow_pub, f(), hrt_absolute_time(), uORB::Publication< T >::publish(), uORB::PublicationMulti< T >::publish(), and distance_sensor_s::timestamp.

Referenced by handle_message().

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◆ handle_message_hil_sensor()

void MavlinkReceiver::handle_message_hil_sensor ( mavlink_message_t * msg )

private

Definition at line 2030 of file mavlink_receiver.cpp.

References _accel_pub, _airspeed_pub, _baro_pub, _battery_pub, _gyro_pub, _mag_pub, calc_EAS_from_IAS(), calc_IAS(), calc_TAS_from_EAS(), CONSTANTS_ONE_G, hrt_absolute_time(), uORB::Publication< T >::publish(), uORB::PublicationMulti< T >::publish(), sensor_accel_s::timestamp, sensor_mag_s::timestamp, sensor_baro_s::timestamp, sensor_gyro_s::timestamp, and battery_status_s::timestamp.

Referenced by handle_message().

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◆ handle_message_hil_state_quaternion()

void MavlinkReceiver::handle_message_hil_state_quaternion ( mavlink_message_t * msg )

private

Definition at line 2366 of file mavlink_receiver.cpp.

References _accel_pub, _airspeed_pub, _attitude_pub, _battery_pub, _global_pos_pub, _gyro_pub, _hil_local_alt0, _hil_local_proj_inited, _hil_local_proj_ref, _local_pos_pub, CONSTANTS_ONE_G, matrix::Matrix< Type, M, N >::copyTo(), f(), hrt_absolute_time(), vehicle_gps_position_s::lat, map_projection_reference_s::lat_rad, vehicle_gps_position_s::lon, map_projection_reference_s::lon_rad, map_projection_init(), map_projection_project(), uORB::Publication< T >::publish(), uORB::PublicationMulti< T >::publish(), math::radians(), vehicle_global_position_s::timestamp, sensor_accel_s::timestamp, vehicle_attitude_s::timestamp, vehicle_local_position_s::timestamp, vehicle_gps_position_s::timestamp, sensor_gyro_s::timestamp, airspeed_s::timestamp, battery_status_s::timestamp, and map_projection_reference_s::timestamp.

Referenced by handle_message().

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◆ handle_message_landing_target()

void MavlinkReceiver::handle_message_landing_target ( mavlink_message_t * msg )

private

Definition at line 2183 of file mavlink_receiver.cpp.

References _landing_target_pose_pub, _mavlink_timesync, uORB::Publication< T >::publish(), MavlinkTimesync::sync_stamp(), and landing_target_pose_s::timestamp.

Referenced by handle_message().

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◆ handle_message_logging_ack()

void MavlinkReceiver::handle_message_logging_ack ( mavlink_message_t * msg )

private

Definition at line 1672 of file mavlink_receiver.cpp.

References _mavlink, Mavlink::get_ulog_streaming(), and MavlinkULog::handle_ack().

Referenced by handle_message().

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◆ handle_message_manual_control()

void MavlinkReceiver::handle_message_manual_control ( mavlink_message_t * msg )

private

Definition at line 1884 of file mavlink_receiver.cpp.

References _manual_pub, _mavlink, _mom_switch_state, _rc_pub, math::constrain(), decode_switch_pos_n(), Mavlink::get_instance_id(), Mavlink::get_manual_input_mode_generation(), Mavlink::get_system_id(), hrt_absolute_time(), uORB::PublicationMulti< T >::publish(), RC_INPUT_RSSI_MAX, input_rc_s::timestamp, and manual_control_setpoint_s::timestamp.

Referenced by handle_message().

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◆ handle_message_named_value_float()

void MavlinkReceiver::handle_message_named_value_float ( mavlink_message_t * msg )

private

Definition at line 2506 of file mavlink_receiver.cpp.

References _debug_key_value_pub, hrt_absolute_time(), uORB::Publication< T >::publish(), and debug_key_value_s::timestamp.

Referenced by handle_message().

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◆ handle_message_obstacle_distance()

void MavlinkReceiver::handle_message_obstacle_distance ( mavlink_message_t * msg )

private

Definition at line 1709 of file mavlink_receiver.cpp.

References _obstacle_distance_pub, hrt_absolute_time(), uORB::Publication< T >::publish(), and obstacle_distance_s::timestamp.

Referenced by handle_message().

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◆ handle_message_odometry()

void MavlinkReceiver::handle_message_odometry ( mavlink_message_t * msg )

private

Definition at line 1228 of file mavlink_receiver.cpp.

References _mavlink_timesync, _mocap_odometry_pub, _visual_odometry_pub, matrix::Matrix< Type, M, N >::copyTo(), matrix::Vector< Type, M >::normalize(), uORB::Publication< T >::publish(), MavlinkTimesync::sync_stamp(), and vehicle_odometry_s::timestamp.

Referenced by handle_message().

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◆ handle_message_onboard_computer_status()

void MavlinkReceiver::handle_message_onboard_computer_status ( mavlink_message_t * msg )

private

Definition at line 2575 of file mavlink_receiver.cpp.

References _onboard_computer_status_pub, hrt_absolute_time(), uORB::Publication< T >::publish(), and onboard_computer_status_s::timestamp.

Referenced by handle_message().

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◆ handle_message_optical_flow_rad()

void MavlinkReceiver::handle_message_optical_flow_rad ( mavlink_message_t * msg )

private

Definition at line 562 of file mavlink_receiver.cpp.

References _flow_distance_sensor_pub, _flow_pub, f(), hrt_absolute_time(), uORB::Publication< T >::publish(), uORB::PublicationMulti< T >::publish(), rotate_3f(), and distance_sensor_s::timestamp.

Referenced by handle_message().

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◆ handle_message_ping()

void MavlinkReceiver::handle_message_ping ( mavlink_message_t * msg )

private

Definition at line 1533 of file mavlink_receiver.cpp.

References _mavlink, _ping_pub, Mavlink::ping_statistics_s::dropped_packets, f(), Mavlink::get_channel(), Mavlink::get_ping_statistics(), hrt_absolute_time(), hrt_abstime, Mavlink::ping_statistics_s::last_ping_seq, Mavlink::ping_statistics_s::last_ping_time, Mavlink::ping_statistics_s::last_rtt, mavlink_system, Mavlink::ping_statistics_s::max_rtt, Mavlink::ping_statistics_s::mean_rtt, Mavlink::ping_statistics_s::min_rtt, ORB_MULTI_MAX_INSTANCES, uORB::PublicationMulti< T >::publish(), and ping_s::timestamp.

Referenced by handle_message().

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◆ handle_message_play_tune()

void MavlinkReceiver::handle_message_play_tune ( mavlink_message_t * msg )

private

Definition at line 1685 of file mavlink_receiver.cpp.

References fd, mavlink_system, px4_close(), px4_open(), px4_write(), and TONE_ALARM0_DEVICE_PATH.

Referenced by handle_message().

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◆ handle_message_radio_status()

void MavlinkReceiver::handle_message_radio_status ( mavlink_message_t * msg )

private

Definition at line 1508 of file mavlink_receiver.cpp.

References _mavlink, _radio_status_pub, Mavlink::get_channel(), hrt_absolute_time(), ORB_MULTI_MAX_INSTANCES, uORB::PublicationMulti< T >::publish(), status, vehicle_status_s::timestamp, and Mavlink::update_radio_status().

Referenced by handle_message().

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◆ handle_message_rc_channels_override()

void MavlinkReceiver::handle_message_rc_channels_override ( mavlink_message_t * msg )

private

Definition at line 1819 of file mavlink_receiver.cpp.

References _mavlink, _rc_pub, Mavlink::get_system_id(), hrt_absolute_time(), uORB::PublicationMulti< T >::publish(), RC_INPUT_RSSI_MAX, and input_rc_s::timestamp.

Referenced by handle_message().

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◆ handle_message_serial_control()

void MavlinkReceiver::handle_message_serial_control ( mavlink_message_t * msg )

private

Definition at line 1645 of file mavlink_receiver.cpp.

References _mavlink, Mavlink::close_shell(), Mavlink::get_shell(), and MavlinkShell::write().

Referenced by handle_message().

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◆ handle_message_set_actuator_control_target()

void MavlinkReceiver::handle_message_set_actuator_control_target ( mavlink_message_t * msg )

private

Definition at line 1088 of file mavlink_receiver.cpp.

References _actuator_controls_pubs, _control_mode_sub, _offboard_control_mode_pub, actuator_controls, uORB::Subscription::copy(), hrt_absolute_time(), offboard_control_mode_s::ignore_thrust, mavlink_system, and uORB::Publication< T >::publish().

Referenced by handle_message().

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◆ handle_message_set_attitude_target()

void MavlinkReceiver::handle_message_set_attitude_target ( mavlink_message_t * msg )

private

Definition at line 1360 of file mavlink_receiver.cpp.

Referenced by handle_message().

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◆ handle_message_set_mode()

void MavlinkReceiver::handle_message_set_mode ( mavlink_message_t * msg )

private

Definition at line 654 of file mavlink_receiver.cpp.

References _cmd_pub, px4_custom_mode::data, hrt_absolute_time(), px4_custom_mode::main_mode, uORB::PublicationQueued< T >::publish(), px4_custom_mode::sub_mode, and vehicle_command_s::timestamp.

Referenced by handle_message().

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◆ handle_message_set_position_target_global_int()

void MavlinkReceiver::handle_message_set_position_target_global_int ( mavlink_message_t * msg )

private

Definition at line 911 of file mavlink_receiver.cpp.

References _control_mode_sub, _mavlink, _offboard_control_mode_pub, _pos_sp_triplet_pub, _vehicle_local_position_sub, uORB::Subscription::copy(), Mavlink::get_forward_externalsp(), globallocalconverter_init(), globallocalconverter_initialized(), globallocalconverter_tolocal(), hrt_absolute_time(), offboard_control_mode_s::ignore_position, mavlink_system, uORB::Publication< T >::publish(), and position_setpoint_triplet_s::timestamp.

Referenced by handle_message().

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◆ handle_message_set_position_target_local_ned()

void MavlinkReceiver::handle_message_set_position_target_local_ned ( mavlink_message_t * msg )

private

Definition at line 746 of file mavlink_receiver.cpp.

References _control_mode_sub, _mavlink, _offboard_control_mode_pub, _pos_sp_triplet_pub, uORB::Subscription::copy(), Mavlink::get_forward_externalsp(), hrt_absolute_time(), offboard_control_mode_s::ignore_position, mavlink_system, uORB::Publication< T >::publish(), and position_setpoint_triplet_s::timestamp.

Referenced by handle_message().

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◆ handle_message_statustext()

void MavlinkReceiver::handle_message_statustext ( mavlink_message_t * msg )

private

Definition at line 2609 of file mavlink_receiver.cpp.

References _log_message_pub, hrt_absolute_time(), mavlink_system, uORB::Publication< T >::publish(), log_message_s::severity, and STRINGIFY.

Referenced by handle_message().

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◆ handle_message_trajectory_representation_waypoints()

void MavlinkReceiver::handle_message_trajectory_representation_waypoints ( mavlink_message_t * msg )

private

Definition at line 1736 of file mavlink_receiver.cpp.

References _trajectory_waypoint_pub, hrt_absolute_time(), uORB::Publication< T >::publish(), and vehicle_trajectory_waypoint_s::timestamp.

Referenced by handle_message().

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◆ handle_message_utm_global_position()

void MavlinkReceiver::handle_message_utm_global_position ( mavlink_message_t * msg )

private

Definition at line 2264 of file mavlink_receiver.cpp.

References _last_utm_global_pos_com, _transponder_report_pub, hrt_absolute_time(), uORB::PublicationQueued< T >::publish(), and transponder_report_s::timestamp.

Referenced by handle_message().

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◆ handle_message_vision_position_estimate()

void MavlinkReceiver::handle_message_vision_position_estimate ( mavlink_message_t * msg )

private

Definition at line 1188 of file mavlink_receiver.cpp.

References _mavlink_timesync, _visual_odometry_pub, matrix::Matrix< Type, M, N >::copyTo(), uORB::Publication< T >::publish(), MavlinkTimesync::sync_stamp(), and vehicle_odometry_s::timestamp.

Referenced by handle_message().

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◆ operator=()

MavlinkReceiver MavlinkReceiver::operator= ( const MavlinkReceiver & )

privatedelete

◆ receive_start()

void MavlinkReceiver::receive_start	(	pthread_t *	thread,
		Mavlink *	parent
	)

static

Start the receiver thread.

Definition at line 2827 of file mavlink_receiver.cpp.

References MAVLINK_RECEIVER_NET_ADDED_STACK, and start_helper().

Referenced by Mavlink::task_main().

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◆ Run()

void MavlinkReceiver::Run ( )

private

Receive data from UART/UDP.

Definition at line 2633 of file mavlink_receiver.cpp.

References _mavlink, _mavlink_ftp, _mavlink_log_handler, _mavlink_timesync, _mission_manager, _parameter_update_sub, _parameters_manager, _status, Mavlink::_task_should_exit, Mavlink::boot_complete(), MavlinkMissionManager::check_active_mission(), uORB::Subscription::copy(), Mavlink::count_rxbytes(), fd, Mavlink::ftp_enabled(), Mavlink::get_baudrate(), Mavlink::get_channel(), Mavlink::get_first_start_time(), Mavlink::get_instance_id(), Mavlink::get_protocol(), Mavlink::get_socket_fd(), Mavlink::get_start_time(), Mavlink::get_status(), Mavlink::get_uart_fd(), MavlinkFTP::handle_message(), MavlinkParametersManager::handle_message(), MavlinkMissionManager::handle_message(), MavlinkLogHandler::handle_message(), MavlinkTimesync::handle_message(), handle_message(), Mavlink::handle_message(), hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), msg, read(), MavlinkFTP::send(), MavlinkParametersManager::send(), MavlinkMissionManager::send(), MavlinkLogHandler::send(), SERIAL, Mavlink::set_boot_complete(), Mavlink::set_proto_version(), and uORB::Subscription::updated().

Referenced by start_helper().

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◆ send_flight_information()

void MavlinkReceiver::send_flight_information ( )

private

Definition at line 336 of file mavlink_receiver.cpp.

References _actuator_armed_sub, _mavlink, uORB::Subscription::copy(), Mavlink::get_channel(), and hrt_absolute_time().

Referenced by handle_message_command_both().

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◆ send_storage_information()

void MavlinkReceiver::send_storage_information ( int storage_id )

private

Definition at line 353 of file mavlink_receiver.cpp.

References _mavlink, Mavlink::get_channel(), and hrt_absolute_time().

Referenced by handle_message_command_both().

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◆ set_message_interval()

int MavlinkReceiver::set_message_interval	(	int	msgId,
		float	interval,
		int	data_rate = `-1`
	)

private

Set the interval at which the given message stream is published.

The rate is the number of messages per second.

Parameters

msgId	The ID of the message interval to be set.
interval	The interval in usec to send the message.
data_rate	The total link data rate in bytes per second.

Returns: PX4_OK on success, PX4_ERROR on fail.

Definition at line 1973 of file mavlink_receiver.cpp.

References _mavlink, Mavlink::configure_stream_threadsafe(), f(), get_stream_name(), and Mavlink::set_data_rate().

Referenced by handle_message_command_both().

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◆ start_helper()

void * MavlinkReceiver::start_helper ( void * context )

static

Definition at line 2818 of file mavlink_receiver.cpp.

References Run().

Referenced by receive_start().

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◆ update_params()

void MavlinkReceiver::update_params ( )

private

Updates the battery, optical flow, and flight ID subscribed parameters.

Member Data Documentation

◆ _accel_pub

uORB::PublicationMulti<sensor_accel_s> MavlinkReceiver::_accel_pub {ORB_ID(sensor_accel), ORB_PRIO_LOW}

private

Definition at line 261 of file mavlink_receiver.h.

Referenced by handle_message_hil_sensor(), and handle_message_hil_state_quaternion().

◆ _actuator_armed_sub

uORB::Subscription MavlinkReceiver::_actuator_armed_sub {ORB_ID(actuator_armed)}

private

Definition at line 273 of file mavlink_receiver.h.

Referenced by send_flight_information().

◆ _actuator_controls_pubs

uORB::Publication<actuator_controls_s> MavlinkReceiver::_actuator_controls_pubs[4] {ORB_ID(actuator_controls_0), ORB_ID(actuator_controls_1), ORB_ID(actuator_controls_2), ORB_ID(actuator_controls_3)}

private

Definition at line 224 of file mavlink_receiver.h.

Referenced by handle_message_set_actuator_control_target().