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add DEPTH_HOLD;ATTITUDE_HOLD;FLIP_TRICK msg #25
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@zt-luo
zt-luo committed Apr 16, 2019
1 parent 0927c95 commit 810b3ac
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Showing 5 changed files with 105 additions and 17 deletions.
4 changes: 4 additions & 0 deletions api/inc/ardusub_api.h
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Original file line number Diff line number Diff line change
Expand Up @@ -227,6 +227,10 @@ extern "C"
extern void as_api_test_start(gchar *test_info, gchar *test_note);
extern void as_api_test_stop();

extern void as_api_depth_hold(uint8_t target_system, uint8_t cmd, float depth);
extern void as_api_attitude_hold(uint8_t target_system, uint8_t cmd, float yaw, float pitch, float roll);
extern void as_api_flip_trick(uint8_t target_system, uint8_t type, float value);

#ifdef __cplusplus
}
#endif
2 changes: 1 addition & 1 deletion api/inc/ardusub_def.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
// max MAVlink channels
#define MAVLINK_COMM_NUM_BUFFERS (32)

#include <common/mavlink.h>
#include <ardupilotmega/mavlink.h>
/******* MAVlink *******/

#include <libserialport.h>
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7 changes: 5 additions & 2 deletions api/inc/ardusub_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -69,10 +69,13 @@ void as_api_motor_test(guint8 target_system, guint8 target_autopilot,
void as_api_send_rc_channels_override(guint8 target_system, guint8 target_autopilot,
uint16_t ch1, uint16_t ch2, uint16_t ch3, uint16_t ch4,
uint16_t ch5, uint16_t ch6, uint16_t ch7, uint16_t ch8);
void as_api_send_named_value_float(uint8_t target_system, char* name, float value);
void as_api_send_named_value_int(uint8_t target_system, char* name, int value);
void as_api_send_named_value_float(uint8_t target_system, char *name, float value);
void as_api_send_named_value_int(uint8_t target_system, char *name, int value);
void as_api_test_start(gchar *test_info, gchar *test_note);
void as_api_test_stop();
void as_api_depth_hold(uint8_t target_system, uint8_t cmd, float depth);
void as_api_attitude_hold(uint8_t target_system, uint8_t cmd, float yaw, float pitch, float roll);
void as_api_flip_trick(uint8_t target_system, uint8_t type, float value);

//
// func inside high leval
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107 changes: 94 additions & 13 deletions api/src/ardusub_interface.c
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Original file line number Diff line number Diff line change
Expand Up @@ -234,7 +234,7 @@ void as_api_manual_control(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t

if (0 == as_api_check_vehicle(sys_id))
{
g_message("no vehicle id:%d, in file: %s, func: %s, line: %d",
g_warning("no vehicle id:%d, in file: %s, func: %s, line: %d",
sys_id, __FILE__, __FUNCTION__, __LINE__);
}

Expand Down Expand Up @@ -269,7 +269,7 @@ Vehicle_Data_t *as_api_get_vehicle_data(uint8_t target_system)
{
if (0 == as_api_check_vehicle(target_system))
{
g_message("no vehicle id:%d, in file: %s, func: %s, line: %d",
g_warning("no vehicle id:%d, in file: %s, func: %s, line: %d",
target_system, __FILE__, __FUNCTION__, __LINE__);
}

Expand Down Expand Up @@ -474,16 +474,16 @@ void as_api_send_rc_channels_override(guint8 target_system, guint8 target_autopi
* @param name
* @param value
*/
void as_api_send_named_value_float(uint8_t target_system, char* name, float value)
void as_api_send_named_value_float(uint8_t target_system, char *name, float value)
{
mavlink_named_value_float_t nvf;
nvf.time_boot_ms = 0;
nvf.value = value;
nvf.value = value;
strcpy(nvf.name, name);

mavlink_message_t message;
mavlink_msg_named_value_float_encode(STATION_SYSYEM_ID, STATION_COMPONENT_ID, &message,
&nvf);
&nvf);
send_mavlink_message(target_system, &message);
}

Expand All @@ -493,20 +493,19 @@ void as_api_send_named_value_float(uint8_t target_system, char* name, float valu
* @param name
* @param value
*/
void as_api_send_named_value_int(uint8_t target_system, char* name, int value)
void as_api_send_named_value_int(uint8_t target_system, char *name, int value)
{
mavlink_named_value_int_t nvi;
nvi.time_boot_ms = 0;
nvi.value = value;
nvi.value = value;
strcpy(nvi.name, name);

mavlink_message_t message;
mavlink_msg_named_value_int_encode(STATION_SYSYEM_ID, STATION_COMPONENT_ID, &message,
&nvi);
&nvi);
send_mavlink_message(target_system, &message);
}


/**
* @brief send REQUEST_DATA_STREAM ( #66 )
*
Expand Down Expand Up @@ -563,7 +562,7 @@ void as_api_vehicle_arm(guint8 target_system, guint8 target_autopilot)
{
if (0 == as_api_check_vehicle(target_system))
{
g_message("no vehicle id:%d, in file: %s, func: %s, line: %d",
g_warning("no vehicle id:%d, in file: %s, func: %s, line: %d",
target_system, __FILE__, __FUNCTION__, __LINE__);
}

Expand Down Expand Up @@ -612,7 +611,7 @@ void as_api_vehicle_disarm(guint8 target_system, guint8 target_autopilot)
{
if (0 == as_api_check_vehicle(target_system))
{
g_message("no vehicle id:%d, in file: %s, func: %s, line: %d",
g_warning("no vehicle id:%d, in file: %s, func: %s, line: %d",
target_system, __FILE__, __FUNCTION__, __LINE__);
}

Expand Down Expand Up @@ -651,6 +650,88 @@ void as_api_vehicle_disarm(guint8 target_system, guint8 target_autopilot)
g_mutex_unlock(&manual_control_mutex[target_system]); // unlock
}

/**
* @brief set desire depth
*
* @param target_system
* @param cmd
* @param depth
*/
void as_api_depth_hold(uint8_t target_system, uint8_t cmd, float depth)
{
if (0 == as_api_check_vehicle(target_system))
{
g_warning("no vehicle id:%d, in file: %s, func: %s, line: %d",
target_system, __FILE__, __FUNCTION__, __LINE__);
}

mavlink_depth_hold_t dh = {0};

dh.cmd = cmd;
dh.depth = depth;

mavlink_message_t message;
mavlink_msg_depth_hold_encode(STATION_SYSYEM_ID, STATION_COMPONENT_ID, &message, &dh);

send_mavlink_message(target_system, &message);
}

/**
* @brief set desire attitude
*
* @param target_system
* @param cmd
* @param yaw
* @param pitch
* @param roll
*/
void as_api_attitude_hold(uint8_t target_system, uint8_t cmd, float yaw, float pitch, float roll)
{
if (0 == as_api_check_vehicle(target_system))
{
g_warning("no vehicle id:%d, in file: %s, func: %s, line: %d",
target_system, __FILE__, __FUNCTION__, __LINE__);
}

mavlink_attitude_hold_t ah = {0};

ah.cmd = cmd;
ah.yaw = yaw;
ah.pitch = pitch;
ah.roll = roll;

mavlink_message_t message;
mavlink_msg_attitude_hold_encode(STATION_SYSYEM_ID, STATION_COMPONENT_ID, &message, &ah);

send_mavlink_message(target_system, &message);
}

/**
* @brief do flip trick
*
* @param target_system
* @param type
* @param value
*/
void as_api_flip_trick(uint8_t target_system, uint8_t type, float value)
{
if (0 == as_api_check_vehicle(target_system))
{
g_warning("no vehicle id:%d, in file: %s, func: %s, line: %d",
target_system, __FILE__, __FUNCTION__, __LINE__);
}

mavlink_flip_trick_t ft = {0};

ft.tpye = type;
ft.value = value;

mavlink_message_t message;
mavlink_msg_flip_trick_encode(STATION_SYSYEM_ID, STATION_COMPONENT_ID, &message, &ft);

send_mavlink_message(target_system, &message);
}

/**
* @brief pop statustex.
*
Expand All @@ -663,7 +744,7 @@ mavlink_statustext_t *as_api_statustex_queue_pop(uint8_t target_system)
{
if (0 == as_api_check_vehicle(target_system))
{
g_message("no vehicle id:%d, in file: %s, func: %s, line: %d",
g_warning("no vehicle id:%d, in file: %s, func: %s, line: %d",
target_system, __FILE__, __FUNCTION__, __LINE__);

return NULL;
Expand All @@ -682,7 +763,7 @@ int as_api_statustex_count(uint8_t target_system)
{
if (0 == as_api_check_vehicle(target_system))
{
g_message("no vehicle id:%d, in file: %s, func: %s, line: %d",
g_warning("no vehicle id:%d, in file: %s, func: %s, line: %d",
target_system, __FILE__, __FUNCTION__, __LINE__);

return 0;
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2 changes: 1 addition & 1 deletion mavlink_c_library_v2
Submodule mavlink_c_library_v2 updated 15 files
+1 −1 ASLUAV/version.h
+1 −1 ardupilotmega/ardupilotmega.h
+27 −27 ardupilotmega/mavlink_msg_flip_trick.h
+4 −4 ardupilotmega/testsuite.h
+1 −1 ardupilotmega/version.h
+1 −1 autoquad/version.h
+1 −1 common/version.h
+1 −1 icarous/version.h
+1 −1 matrixpilot/version.h
+1 −1 message_definitions/ardupilotmega.xml
+1 −1 minimal/version.h
+1 −1 slugs/version.h
+1 −1 standard/version.h
+1 −1 test/version.h
+1 −1 uAvionix/version.h

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