Changeset 82 in flair-src
- Timestamp:
- Sep 21, 2016, 3:16:16 PM (8 years ago)
- Location:
- branches/mavlink/tools/Controller/Mavlink/src
- Files:
-
- 2 edited
Legend:
- Unmodified
- Added
- Removed
-
branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.cpp
r81 r82 7 7 // 8 8 // authors: Thomas Fuhrmann 9 // Milan Erdelj 9 10 // Copyright Heudiasyc UMR UTC/CNRS 7253 10 11 // … … 40 41 41 42 mavCom = new MavlinkUDP(outputAddress, outputPort); 42 if (mavCom) {43 // mavCom->startThreads();44 } else {45 //TODO handle the error46 }47 48 43 } 49 44 … … 57 52 void GuiGcs::MissionStart() { 58 53 cout << "MavPlanner GuiGcs MissionStart" << endl; 59 outputSocket->SendMessage("MavPlanner GuiGcs MissionStart"); 54 55 Initialize(); 56 57 cout << "--------------------\n"; 58 cout << " MISSION START\n"; 59 cout << "--------------------\n"; 60 61 // set auto armed mode 62 mavCom->cmdDoSetMode(mavCom->target.getSysID(), mavCom->target.getCompID(), MAV_MODE_AUTO_ARMED); 63 mavCom->waitCommandAck(ACK_TIMEOUT); 64 65 usleep(INTER_COMMAND_PAUSE); 66 67 // mission start message 68 mavCom->cmdMissionStart(mavCom->target.getSysID(), mavCom->target.getCompID(), mavCom->missionFirst, mavCom->missionLast); 69 mavCom->waitCommandAck(ACK_TIMEOUT); 70 71 mavCom->missionStarted(); 60 72 } 61 73 … … 72 84 void GuiGcs::MissionSend() { 73 85 cout << "MavPlanner GuiGcs MissionSend" << endl; 74 75 86 76 87 // upload a flight plan … … 150 161 return returnValue; 151 162 } 163 164 void GuiGcs::Initialize() { 165 cout << "--------------------\n"; 166 cout << "Initialization START\n"; 167 cout << "--------------------\n"; 168 169 // UAV start heartbeat, message ID=0, interval 1000 ms 170 mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_HEARTBEAT, PERIOD_SECOND); 171 mavCom->waitCommandAck(ACK_TIMEOUT); 172 173 usleep(INTER_COMMAND_PAUSE); 174 175 // ask for the autopilot capabilities 176 mavCom->cmdRequestAutopilotCapabilities(mavCom->target.getSysID(), mavCom->target.getCompID()); 177 // TODO wait for autopilot version 178 // 179 180 usleep(INTER_COMMAND_PAUSE); 181 182 // initiate system status callback on the UAV, message ID=1, interval 1000 ms 183 mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_SYS_STATUS, PERIOD_SECOND); 184 185 usleep(INTER_COMMAND_PAUSE); 186 187 // initiate system time callback on the UAV 188 mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_SYSTEM_TIME, PERIOD_SECOND); 189 190 usleep(INTER_COMMAND_PAUSE); 191 192 // set preflight mode 193 mavCom->cmdDoSetMode(mavCom->target.getSysID(), mavCom->target.getCompID(), MAV_MODE_PREFLIGHT); 194 mavCom->waitCommandAck(ACK_TIMEOUT); 195 196 usleep(INTER_COMMAND_PAUSE); 197 198 // set home position 199 mavCom->cmdDoSetHome(mavCom->target.getSysID(), mavCom->target.getCompID(), 0); 200 mavCom->waitCommandAck(ACK_TIMEOUT); 201 202 usleep(INTER_COMMAND_PAUSE); 203 204 // clear all mission waypoints 205 mavCom->sendMissionClearAll(mavCom->target.getSysID(), mavCom->target.getCompID()); 206 usleep(INTER_COMMAND_PAUSE); 207 mavCom->waitMissionAck(ACK_TIMEOUT); 208 cout << "--------------------\n"; 209 cout << "Initialization END\n"; 210 cout << "--------------------\n"; 211 } -
branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.h
r79 r82 7 7 // 8 8 // authors: Thomas Fuhrmann 9 // Milan Erdelj 9 10 // Copyright Heudiasyc UMR UTC/CNRS 7253 10 11 // … … 24 25 25 26 #include "MavlinkUDP.h" 27 28 #define INTER_COMMAND_PAUSE 10000 // us 29 #define PERIOD_SECOND 1000000 // us 26 30 27 31 namespace flair { … … 54 58 55 59 MavlinkUDP* mavCom; 60 61 void Initialize(); 56 62 }; 57 63
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