 local RUN_INTERVAL_MS = 25


local mavlink_msgs = require("MAVLink/mavlink_msgs")

local COMMAND_ACK_ID = mavlink_msgs.get_msgid("COMMAND_ACK")
local COMMAND_LONG_ID = mavlink_msgs.get_msgid("COMMAND_LONG")

local msg_map = {}
msg_map[COMMAND_ACK_ID] = "COMMAND_ACK"
msg_map[COMMAND_LONG_ID] = "COMMAND_LONG"

-- initialize MAVLink rx with number of messages, and buffer depth
mavlink:init(1, 10)

-- register message id to receive
mavlink:register_rx_msgid(COMMAND_LONG_ID)

local MAV_CMD_DO_SEND_SCRIPT_MESSAGE = 217
local MAV_CMD_DO_SET_MODE = 176
-- local MAV_CMD_WAYPOINT_USER_1 = 31000


-- MavLink forwarding to SoleonAirController
MAV_CMD_SO_CONTROL = 31090  --- derzeit MAV_CMD_SO_SYSMODE --> should be renamed
ACO_SYS_ID       = 1
ACO_COMPONENT_ID = 84

mavlink_buf = {0,0,0,0,0,0}

-- Block AP parsing MAV_CMD_DO_SEND_SCRIPT_MESSAGE so we can deal with it in the script
-- Prevents "unsupported" ack
mavlink:block_command(MAV_CMD_DO_SEND_SCRIPT_MESSAGE)

-- send the buffer to thr SoleonAirController
function send_buffer_to_soac()
    local msg = {}
    msg.command = MAV_CMD_SO_CONTROL
    msg.target_system = ACO_SYS_ID
    msg.target_component = ACO_COMPONENT_ID
	msg.confirmation = 0
    msg.param1 = mavlink_buf[1]
    msg.param2 = mavlink_buf[2]
    msg.param3 = mavlink_buf[3]
    msg.param4 = mavlink_buf[4]
    msg.param5 = mavlink_buf[5]
    msg.param6 = mavlink_buf[6]
    msg.param7 = 0

    gcs:send_text(MAV_SEVERITY_NOTICE, ("ACoLua: send to SoAc <%s>"):format(mavlink_buf))  -- just for debugging
    --- mavlink:send_chan(chan, mavlink_msgs.encode("COMMAND_ACK", msg))  --- muass schaugen
 	
end

function handle_command_long(cmd)
    if (cmd.command == MAV_CMD_DO_SET_MODE) then
        gcs:send_text(0, "Got mode change")

    elseif (cmd.command == MAV_CMD_DO_SEND_SCRIPT_MESSAGE) then
        if (0 == tonumber(cmd.param1) ) then
			mavlink_buf[1] = cmd.param2
			mavlink_buf[2] = cmd.param3
			mavlink_buf[3] = cmd.param4
		else
			mavlink_buf[4] = cmd.param2
			mavlink_buf[5] = cmd.param3
			mavlink_buf[6] = cmd.param4
		end
		-- return ack from command param value
        return math.min(math.max(math.floor(cmd.param1), 0), 1)
    end
    return nil
end

-- initialisation
--init_params_tables()
--reset_axes_done()
--get_all_params()
--save_gcs_pid_mask()
gcs:send_text(MAV_SEVERITY.INFO, "ACoLua: AcoMissionFwd script loaded")

--local last_warning = get_time()
-- main update function
function update()
    local msg, chan = mavlink:receive_chan()
    if (msg ~= nil) then
        local parsed_msg = mavlink_msgs.decode(msg, msg_map)
        if (parsed_msg ~= nil) then

            local result
            if parsed_msg.msgid == COMMAND_LONG_ID then
                result = handle_command_long(parsed_msg)
            end

            if (result ~= nil) then
                -- Send ack if the command is one were intrested in
                local ack = {}
                ack.command = parsed_msg.command
                ack.result = result
                ack.progress = 0
                ack.result_param2 = 0
                ack.target_system = parsed_msg.sysid
                ack.target_component = parsed_msg.compid

                mavlink:send_chan(chan, mavlink_msgs.encode("COMMAND_ACK", ack))
				
				send_buffer_to_soac()   -- send 
            end
        end
    end
end

-- wrapper around update(). This calls update() every RUN_INTERVAL_MS,
-- and if update faults then an error is displayed, but the script is not
-- stopped
function protected_wrapper()
  local success, err = pcall(update)
  if not success then
    gcs:send_text(MAV_SEVERITY.CRITICAL, "ACoLua: Internal Error: " .. err)
    -- when we fault we run the update function again after 1s, slowing it
    -- down a bit so we don't flood the console with errors
    return protected_wrapper, 1000
    --return
  end
  return protected_wrapper, RUN_INTERVAL_MS
end

-- start running update loop
return protected_wrapper()

created 1 year ago

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