kopia lustrzana https://github.com/pjalocha/esp32-ogn-tracker
Add some messages, improve printout
Pawel Jalocha
rodzic
e28403027c
commit
1394569fdd
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@ -22,6 +22,7 @@ const uint8_t MAV_COMP_ID_GPS = 220;
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const uint8_t MAV_ID_HEARTBEAT = 0; // +
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const uint8_t MAV_ID_SYS_STATUS = 1; // + power data
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const uint8_t MAV_ID_SYSTEM_TIME = 2; // + boot and UTC time
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const uint8_t MAV_ID_PARAM_VALUE = 22; // + value of an parameter
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const uint8_t MAV_ID_GPS_RAW_INT = 24; // + position after the GPS
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const uint8_t MAV_ID_RAW_IMU = 27; // +
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const uint8_t MAV_ID_SCALED_PRESSURE = 29; // + pressure+temperature
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@ -34,6 +35,10 @@ const uint8_t MAV_ID_NAV_CONTROLLER_OUTPUT = 62; //
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const uint8_t MAV_ID_VFR_HUD = 74; //
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const uint8_t MAV_ID_TIMESYNC = 111;
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const uint8_t MAV_ID_HIL_GPS = 113;
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const uint8_t MAV_ID_SCALED_IMU2 = 116; //
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const uint8_t MAV_ID_POWER_STATUS = 125; // 5V and servo power and status
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const uint8_t MAV_ID_TERRAIN_REPORT = 136; //
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const uint8_t MAV_ID_BATTERY_STATUS = 147; //
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const uint8_t MAV_ID_ADSB_VEHICLE = 246; // + traffic information sent by an ADS-B receiver
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const uint8_t MAV_ID_COLLISION = 247; // + collision threat detected by auto-pilot
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const uint8_t MAV_ID_STATUSTEXT = 253; // +
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@ -41,10 +46,10 @@ const uint8_t MAV_ID_DEBUG = 254;
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// --------------------------------------------------------------------------------
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class MAV_HEARTBEAT
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class MAV_HEARTBEAT // 0
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{ public:
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uint32_t custom_mode;
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uint8_t type; // MAV-aircraft-type: 1=fixed wing, 2=quadrotor, 7=airship, 8=balloon, 13=hexarotor
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uint8_t type; // MAV-aircraft-type: 1=fixed wing, 2=quadrotor, 7=airship, 8=balloon, D=hexarotor
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uint8_t autopilot; // 3=ArduPilotMega, 4=OpenPilot, 13=PX4
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union
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{ uint8_t base_mode;
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@ -66,16 +71,7 @@ class MAV_HEARTBEAT
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{ printf("HEARTBEAT: t%X v%d\n", type, mavlink_version); }
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} ;
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class MAV_SYSTEM_TIME
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{ public:
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uint64_t time_unix_usec; // [usec]
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uint32_t time_boot_ms; // [ms]
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public:
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void Print(void) const
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{ printf("SYSTEM_TIME: %14.3f-%8.3f [sec]\n", 1e-6*time_unix_usec, 1e-3*time_boot_ms); }
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} ;
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class MAV_SYS_STATUS
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class MAV_SYS_STATUS // 1
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{ public:
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uint32_t onboard_control_sensors_present;
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uint32_t onboard_control_sensors_enabled;
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@ -93,7 +89,28 @@ class MAV_SYS_STATUS
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{ printf("SYS_STATUS: %3.1f%% %5.3fV %+5.2fA\n", 0.1*load, 1e-3*battery_voltage, 0.01*battery_current); }
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} ;
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class MAV_GPS_RAW_INT
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class MAV_SYSTEM_TIME // 2
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{ public:
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uint64_t time_unix_usec; // [usec]
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uint32_t time_boot_ms; // [ms]
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public:
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void Print(void) const
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{ printf("SYSTEM_TIME: %14.3f-%8.3f [sec]\n", 1e-6*time_unix_usec, 1e-3*time_boot_ms); }
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} ;
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class MAV_PARAM_VALUE
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{ public:
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float param_value;
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uint16_t param_count;
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uint16_t param_index;
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char param_id[16];
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uint8_t param_type; // (1)2=(u)int8, (3)/4=(u)int16_t, (5)/6=(u)int32_t, (7)/8=(u)int64_t, 9=float, 10=double
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public:
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void Print(void) const
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{ printf("PARAM_VALUE: %.16s t%X %d/%d\n", param_id, param_type, param_index, param_count); }
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} ;
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class MAV_GPS_RAW_INT // 24
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{ public:
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uint64_t time_usec; // [usec] Time-since-boot time or UTC
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int32_t lat; // [1e-7deg] Latitude
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@ -159,7 +176,7 @@ class MAV_SCALED_PRESSURE
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public:
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void Print(void) const
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{ printf("SCALED_PRESSURE: %8.3f [sec] %7.2f %+4.2f [hPa] %+5.2f [degC]\n",
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1e-3*time_boot_ms, 2*press_abs, 2*press_diff, 0.01*temperature); } // with ms5607 there is a bug/feature: pressure is twice as low
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1e-3*time_boot_ms, press_abs, press_diff, 0.01*temperature); } // with ms5607 there is a bug/feature: pressure is twice as low
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} ;
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class MAV_ADSB_VEHICLE // this message is sent by ADS-B or other traffic receiver
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@ -185,13 +202,15 @@ class MAV_ADSB_VEHICLE // this message is sent by ADS-B or other traffic rece
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} ;
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uint16_t squawk;
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uint8_t altitude_type; // 0 = pressure/QNH, 1 = GPS
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uint8_t callsign[9]; // 8+null
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char callsign[9]; // 8+null
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uint8_t emiter_type; // 0=no-info, 1=light, 2=small. 3=large, 4=high-vortex, 5=heavy, 6=manuv, 7=rotor, 9=glider, 10=balloon/airship, 11=parachute, 12=ULM, 14=UAV, 15=space, 19=obstacle
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uint8_t tslc; // [sec] time since last communication
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public:
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void Print(void) const
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{ printf("ADSB_VEHICLE: %02X:%08lX [%+9.5f, %+10.5f]deg %5.1fm %3.1fm/s %05.1fdeg %+4.1fm/s\n",
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(int)emiter_type, (long int)ICAO_address, 1e-7*lat, 1e-7*lon, 1e-3*altitude, 0.01*hor_velocity, 360.0/0x10000*heading, 0.01*ver_velocity); }
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{ printf("ADSB_VEHICLE: %.9s %02X:%08lX [%+9.5f, %+10.5f]deg %5.1fm %3.1fm/s %05.1fdeg %+4.1fm/s %dsec\n",
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callsign, (int)emiter_type, (long int)ICAO_address,
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1e-7*lat, 1e-7*lon, 1e-3*altitude, 0.01*hor_velocity, 360.0/0x10000*heading, 0.01*ver_velocity,
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tslc); }
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} ;
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class COLLISION // this message is sent by the autopilot when it detects a collision threat
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@ -245,6 +264,7 @@ class MAV_RxMsg // receiver for the MAV messages
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else if(getMsgID()==MAV_ID_GPS_RAW_INT ) { ((const MAV_GPS_RAW_INT *)getPayload())->Print(); }
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else if(getMsgID()==MAV_ID_GLOBAL_POSITION_INT ) { ((const MAV_GLOBAL_POSITION_INT *)getPayload())->Print(); }
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else if(getMsgID()==MAV_ID_ADSB_VEHICLE ) { ((const MAV_ADSB_VEHICLE *)getPayload())->Print(); }
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else if(getMsgID()==MAV_ID_PARAM_VALUE ) { ((const MAV_PARAM_VALUE *)getPayload())->Print(); }
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}
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}
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}
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