Colin Stearns / Mbed 2 deprecated qcControl

QC Control software

Dependencies:   mbed

Fork of dgps by Colin Stearns

Files at this revision

API Documentation at this revision

Revision 55:c2c10a521874, committed 2014-04-26

Comitter:
dylanembed123
Date:
Sat Apr 26 16:27:14 2014 +0000
Parent:
51:d6b64ac3c30d
Parent:
54:fc7c8b5d4d41
Child:
56:daeef3c9ca94
Commit message:
need to merge;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/handle/mavcommands.cpp	Sat Apr 26 06:49:37 2014 +0000
+++ b/handle/mavcommands.cpp	Sat Apr 26 16:27:14 2014 +0000
@@ -3,9 +3,13 @@
 // Maximium number of charictors to read without giving up the processor
 #define MAX_READ_LOOP 256
 
+#define ENABLE_MOTORS false
+
 MavCmd* MavCmd::mavcmd=NULL;
 
-static void fixLatLon(double& latitude,double& longitude){
+static void fixLatLonAlt(double& latitude,double& longitude,double& altitude){
+    latitude/=10000000.0f;
+    longitude/=10000000.0f;
     int degrees;
     double minutes;
     degrees = (int)(latitude/100);
@@ -16,6 +20,18 @@
     longitude = degrees + minutes/60;    
 }
 
+bool MavCmd::hasMoved(){
+    double nLat=DH::Locs().getC(LHType_targ).getLat();
+    double nLon=DH::Locs().getC(LHType_targ).getLon();
+    double nAlt=DH::Locs().getC(LHType_targ).getAlt();
+    if(moveValid&&cLat==nLat&&cLon==nLon&&cAlt==nAlt)return false;
+    moveValid=false;
+    cLat=nLat;
+    cLon=nLon;
+    cAlt=nAlt;
+    return true;
+}
+
 void MavCmd::setupCmds(){
     // Request item list
     req.targSys=1;req.targComp=1;
@@ -31,12 +47,15 @@
     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;
     // Issue start
     issueStart.targSys=1;issueStart.targComp=1;issueStart.lat=5.0f;issueStart.lon=6.0f;issueStart.alt=7.0f;issueStart.cmd=22;issueStart.seq=0;issueStart.current=1;
-
+    // Issue location request
+    issueStreamReq.targSys=1;issueStreamReq.targComp=1;issueStreamReq.streamID=6;issueStreamReq.rate=5;issueStreamReq.start=1;
+    
     // Local variables
     startSetup=true;// Set to true to initiate startup sequence
     readState=0;     // Read State
     realLen=0;       // How many more bytes need to be read
     readIndex=0;     // Current index in next cmd (also the size)
+    cLat=cLon=cAlt=0.0f;
 }
 
 char* MavCmd::getNextCmd(){
@@ -46,7 +65,7 @@
             return NULL;
         }else{
             char input=Mav::getSerial().getc();
-            USB::getSerial().printf("> %x %d %d\n",input,readState,realLen);
+            USB::getSerial().printf(">%x ",input);
             if(readState==0&&input==0xFE){
                 readState=1;
                 readIndex=1;
@@ -59,6 +78,7 @@
                 if(readState==2){
                     realLen--;
                     if(realLen==0){
+                        USB::getSerial().printf("\n");
                         readState=0;
                         char* output=new char[readIndex];
                         for(int i=0;i<readIndex;i++){output[i]=nextCmd[i];}
@@ -77,34 +97,61 @@
     if(myCmd!=NULL){
         USB::getSerial().printf("Got CMD len %d messageid %d \n",myCmd[1],myCmd[5]);
         if(myCmd[5]==0){
-            if(startSetup){
-                startSetup=false;
-                USB::getSerial().printf("Issue Command\n",myCmd[1],myCmd[5]);
+            USB::getSerial().printf("Issue Command\n",myCmd[1],myCmd[5]);
+            // Issue count to init waypoint entry
+            //Mav::sendOutput(MAVLINK_MSG_ID_COUNT,(char*)&issueCount,sizeof(MAV_COUNT));
+            // Start sending location data
+            //Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_DATA_STREAM,(char*)&issueStreamReq,sizeof(MAV_DATA_STREAM));
+            if(hasMoved()){
+                USB::getSerial().printf("USING NEW WAYPOINT!!!\n",myCmd[1],myCmd[5]);
                 // Issue count to init waypoint entry
                 Mav::sendOutput(MAVLINK_MSG_ID_COUNT,(char*)&issueCount,sizeof(MAV_COUNT));
             }else{
-                Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_LIST,(char*)&req,sizeof(MAV_REQUEST_LIST));
+                Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_DATA_STREAM,(char*)&issueStreamReq,sizeof(MAV_DATA_STREAM));
             }
+            //else{
+            // Start sending location data
+                //Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_LIST,(char*)&req,sizeof(MAV_REQUEST_LIST));
+            //}
         }
         // Check for mavlink message request
         if(myCmd[5]==MAVLINK_MSG_ID_MISSION_REQUEST){
-            USB::getSerial().printf("Issue Item\n");
+            USB::getSerial().printf("Issue Item %f %f %f\n",cLat,cLon,cAlt);
             // Set sequence to requested sequence
             issueItem.seq=myCmd[6];
-            issueItem.lon=(float)issueItem.seq;
+            issueItem.lat=(float)cLat;
+            issueItem.lon=(float)cLon;
+            issueItem.alt=(float)cAlt;
             // Issue mission item
             Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueItem,sizeof(MAV_MISSION_ITEM));
         }
         // Check for mission accepted
         if(myCmd[5]==MAVLINK_MSG_ID_MISSION_ACK){
-            // Start
-            Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueStart,sizeof(MAV_MISSION_ITEM));
-            wait(1);
-            // Take off
-            Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueTakeOff,sizeof(MAV_MISSION_ITEM));
-            wait(1);
-            // Arm motors
-            Mav::sendOutput(MAVLINK_MSG_ID_LONG,(char*)&issueArm,sizeof(MAV_APM));
+            moveValid=true;
+            if(startSetup&&ENABLE_MOTORS){
+                startSetup=false;
+                // Start
+                Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueStart,sizeof(MAV_MISSION_ITEM));
+                wait(1);
+                // Take off
+                Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueTakeOff,sizeof(MAV_MISSION_ITEM));
+                wait(1);
+                // Start sending location data
+                Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_DATA_STREAM,(char*)&issueStreamReq,sizeof(MAV_DATA_STREAM));
+                wait(1);
+                // Arm motors
+                Mav::sendOutput(MAVLINK_MSG_ID_LONG,(char*)&issueArm,sizeof(MAV_APM));
+            }
+        }
+        // Check for GPS
+        if(myCmd[5]==33){
+            for(int i=0;i<18;i++){USB::getSerial().printf("Got loc %d/18 %d\n",i,myCmd[6+i]);}
+            MAV_LOCDATA* input=(MAV_LOCDATA*)&myCmd[6];
+            USB::getSerial().printf("Got lat %d\n",input->lat);USB::getSerial().printf("Got lon %d\n",input->lon);USB::getSerial().printf("Got alt %d\n",input->alt);
+            double lat=input->lat;double lon=input->lon;double alt=input->alt;
+            fixLatLonAlt(lat,lon,alt);
+            USB::getSerial().printf("Got lat fixed %f\n",lat);USB::getSerial().printf("Got lon %f\n",lon);USB::getSerial().printf("Got alt %f\n",alt);
+            DH::Locs().add(LHType_locs,DataLocation(lat,lon,alt));
         }
         // Check for waypoint count
         if(myCmd[5]==44){

--- a/handle/mavcommands.h	Sat Apr 26 06:49:37 2014 +0000
+++ b/handle/mavcommands.h	Sat Apr 26 16:27:14 2014 +0000
@@ -2,7 +2,7 @@
 #include "mavcontrol.h"
 #include "adapt/usb.h"
 #include <algorithm>
-
+#include"handle/dataLocation.h"
 typedef struct MAV_REQUEST_LIST_S{
     char targSys;
     char targComp;
@@ -54,13 +54,22 @@
 } MAV_MISSION_ITEM;
 
 typedef struct MAV_DATA_STREAM_S{
+    uint16_t rate; // Hz
     uint8_t targSys;
     uint8_t targComp;
     uint8_t streamID;
-    uint16_t rate; // Hz
     uint8_t start; // Set to 1 to start and 0 to stop
 } MAV_DATA_STREAM;
 
+typedef struct MAV_LOCDATA_S{
+    uint32_t alt;
+    uint32_t lat;
+    uint32_t lon;
+    uint16_t x;
+    uint16_t y;
+    uint16_t z;
+}MAV_LOCDATA;
+
 class MavCmd{
 private:
     MAV_REQUEST_LIST req;
@@ -70,6 +79,7 @@
     MAV_MISSION_ITEM issueItem;
     MAV_MISSION_ITEM issueStart;
     MAV_MISSION_ITEM issueTakeOff;
+    MAV_DATA_STREAM issueStreamReq;
     
     // Local variables
     bool startSetup;    // Set to true to initiate startup sequence
@@ -79,6 +89,9 @@
     int readIndex;       // Current index in next cmd (also the size)
     static MavCmd* mavcmd;
     bool initialized;
+    double cLat,cLon,cAlt;
+    bool hasMoved();
+    bool moveValid;
 public:
     MavCmd():initialized(false){}
     char* getNextCmd();

--- a/handle/mavcontrol.cpp	Sat Apr 26 06:49:37 2014 +0000
+++ b/handle/mavcontrol.cpp	Sat Apr 26 16:27:14 2014 +0000
@@ -64,7 +64,8 @@
     char* output=generatePacket(messageID,payload,length,&outLength);
     for(int i=0;i<outLength;i++){
         getSerial().putc(output[i]);
-        USB::getSerial().printf("+ %x\n",output[i]);
+        USB::getSerial().printf("+%x ",output[i]);
     }
+    USB::getSerial().printf("\n");
     delete output;
 }
\ No newline at end of file

--- a/main.cpp	Sat Apr 26 06:49:37 2014 +0000
+++ b/main.cpp	Sat Apr 26 16:27:14 2014 +0000
@@ -113,13 +113,13 @@
 {
     
     // Start Mav test
-    /*
-    USB::getSerial().printf("Wait 20\n");
+    DH::Locs().add(LHType_targ,DataLocation(27.175015,78.042155,5.0));
+    USB::getSerial().printf("Wait %d seconds\n",DELAYBOOT);
     wait(DELAYBOOT);    
     while(true){
         MavCmd::get().run();
     }
-    */
+    
     // End mav test
     
     //handlers