Colin Stearns / Mbed 2 deprecated qcControl

QC Control software

Dependencies:   mbed

Fork of dgps by Colin Stearns

mavcommands.cpp@24:e65416d6de22, 2014-04-22 (annotated)

Committer:
dylanembed123
Date:
Tue Apr 22 14:15:27 2014 +0000
Revision:
24:e65416d6de22
Abstract mav commands and merge

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dylanembed123 24:e65416d6de22 1 #include "mavcommands.h"
dylanembed123 24:e65416d6de22 2
dylanembed123 24:e65416d6de22 3 // Maximium number of charictors to read without giving up the processor
dylanembed123 24:e65416d6de22 4 #define MAX_READ_LOOP 256
dylanembed123 24:e65416d6de22 5
dylanembed123 24:e65416d6de22 6 MavCmd* MavCmd::mavcmd=NULL;
dylanembed123 24:e65416d6de22 7
dylanembed123 24:e65416d6de22 8 void MavCmd::setupCmds(){
dylanembed123 24:e65416d6de22 9 // Request item list
dylanembed123 24:e65416d6de22 10 req.targSys=1;req.targComp=1;
dylanembed123 24:e65416d6de22 11 // Issue arm motors
dylanembed123 24:e65416d6de22 12 issueArm.targSys=1;issueArm.targComp=250;issueArm.cmd=400;issueArm.parm1=1.0f;
dylanembed123 24:e65416d6de22 13 // Issue disarm motors
dylanembed123 24:e65416d6de22 14 issueDisArm.targSys=1;issueDisArm.targComp=250;issueDisArm.cmd=400;issueDisArm.parm1=0.0f;
dylanembed123 24:e65416d6de22 15 // Issue a mission count
dylanembed123 24:e65416d6de22 16 issueCount.targSys=1;issueCount.targComp=1;issueCount.count=1;
dylanembed123 24:e65416d6de22 17 // Issue a mission item
dylanembed123 24:e65416d6de22 18 issueItem.targSys=1;issueItem.targComp=1;issueItem.lat=5.0f;issueItem.lon=6.0f;issueItem.alt=7.0f;issueItem.cmd=16;issueItem.seq=0;issueItem.current=1;
dylanembed123 24:e65416d6de22 19 // Issue a take off item
dylanembed123 24:e65416d6de22 20 issueTakeOff.targSys=1;issueTakeOff.targComp=1;issueTakeOff.lat=5.0f;issueTakeOff.lon=6.0f;issueTakeOff.alt=7.0f;issueTakeOff.cmd=22;issueTakeOff.seq=0;issueTakeOff.current=1;
dylanembed123 24:e65416d6de22 21
dylanembed123 24:e65416d6de22 22 // Local variables
dylanembed123 24:e65416d6de22 23 startSetup=true;// Set to true to initiate startup sequence
dylanembed123 24:e65416d6de22 24 readState=0; // Read State
dylanembed123 24:e65416d6de22 25 realLen=0; // How many more bytes need to be read
dylanembed123 24:e65416d6de22 26 readIndex=0; // Current index in next cmd (also the size)
dylanembed123 24:e65416d6de22 27 }
dylanembed123 24:e65416d6de22 28
dylanembed123 24:e65416d6de22 29 char* MavCmd::getNextCmd(){
dylanembed123 24:e65416d6de22 30 for(int readcnt=0;readcnt<MAX_READ_LOOP;readcnt++){
dylanembed123 24:e65416d6de22 31 if(Mav::getSerial().readable()<=0){
dylanembed123 24:e65416d6de22 32 // Nothing to run, wait until next time
dylanembed123 24:e65416d6de22 33 return NULL;
dylanembed123 24:e65416d6de22 34 }else{
dylanembed123 24:e65416d6de22 35 char input=Mav::getSerial().getc();
dylanembed123 24:e65416d6de22 36 USB::getSerial().printf("> %x %d %d\n",input,readState,realLen);
dylanembed123 24:e65416d6de22 37 if(readState==0&&input==0xFE){
dylanembed123 24:e65416d6de22 38 readState=1;
dylanembed123 24:e65416d6de22 39 readIndex=1;
dylanembed123 24:e65416d6de22 40 }else if(readState!=0){
dylanembed123 24:e65416d6de22 41 nextCmd[std::min(readIndex++,512)]=input;
dylanembed123 24:e65416d6de22 42 if(readState==1){
dylanembed123 24:e65416d6de22 43 realLen=input+5-1;
dylanembed123 24:e65416d6de22 44 readState=2;
dylanembed123 24:e65416d6de22 45 }
dylanembed123 24:e65416d6de22 46 if(readState==2){
dylanembed123 24:e65416d6de22 47 realLen--;
dylanembed123 24:e65416d6de22 48 if(realLen==0){
dylanembed123 24:e65416d6de22 49 readState=0;
dylanembed123 24:e65416d6de22 50 char* output=new char[readIndex];
dylanembed123 24:e65416d6de22 51 for(int i=0;i<readIndex;i++){output[i]=nextCmd[i];}
dylanembed123 24:e65416d6de22 52 return output;
dylanembed123 24:e65416d6de22 53 }
dylanembed123 24:e65416d6de22 54 }
dylanembed123 24:e65416d6de22 55 }
dylanembed123 24:e65416d6de22 56 }
dylanembed123 24:e65416d6de22 57 }
dylanembed123 24:e65416d6de22 58 }
dylanembed123 24:e65416d6de22 59
dylanembed123 24:e65416d6de22 60 // Handle the next command (if one is available)
dylanembed123 24:e65416d6de22 61 void MavCmd::handleNextCmd(){
dylanembed123 24:e65416d6de22 62 char* myCmd=getNextCmd();
dylanembed123 24:e65416d6de22 63 // Output debug info
dylanembed123 24:e65416d6de22 64 if(myCmd!=NULL){
dylanembed123 24:e65416d6de22 65 USB::getSerial().printf("Got CMD len %d messageid %d \n",myCmd[1],myCmd[5]);
dylanembed123 24:e65416d6de22 66 if(myCmd[5]==0){
dylanembed123 24:e65416d6de22 67 if(startSetup){
dylanembed123 24:e65416d6de22 68 startSetup=false;
dylanembed123 24:e65416d6de22 69 USB::getSerial().printf("Issue Command\n",myCmd[1],myCmd[5]);
dylanembed123 24:e65416d6de22 70 // Issue count to init waypoint entry
dylanembed123 24:e65416d6de22 71 Mav::sendOutput(MAVLINK_MSG_ID_COUNT,(char*)&issueCount,sizeof(MAV_COUNT));
dylanembed123 24:e65416d6de22 72 }
dylanembed123 24:e65416d6de22 73 }
dylanembed123 24:e65416d6de22 74 // Check for mavlink message request
dylanembed123 24:e65416d6de22 75 if(myCmd[5]==MAVLINK_MSG_ID_MISSION_REQUEST){
dylanembed123 24:e65416d6de22 76 USB::getSerial().printf("Issue Item\n");
dylanembed123 24:e65416d6de22 77 // Set sequence to requested sequence
dylanembed123 24:e65416d6de22 78 issueItem.seq=myCmd[6];
dylanembed123 24:e65416d6de22 79 // Issue mission item
dylanembed123 24:e65416d6de22 80 Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueItem,sizeof(MAV_MISSION_ITEM));
dylanembed123 24:e65416d6de22 81 }
dylanembed123 24:e65416d6de22 82 // Check for mission accepted
dylanembed123 24:e65416d6de22 83 if(myCmd[5]==MAVLINK_MSG_ID_MISSION_ACK){
dylanembed123 24:e65416d6de22 84 // Arm motors
dylanembed123 24:e65416d6de22 85 Mav::sendOutput(MAVLINK_MSG_ID_LONG,(char*)&issueArm,sizeof(MAV_APM));
dylanembed123 24:e65416d6de22 86 // Take off
dylanembed123 24:e65416d6de22 87 Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueTakeOff,sizeof(MAV_MISSION_ITEM));
dylanembed123 24:e65416d6de22 88 }
dylanembed123 24:e65416d6de22 89 delete myCmd;
dylanembed123 24:e65416d6de22 90 }
dylanembed123 24:e65416d6de22 91 }