LibrePilot/flight/modules/UAVOMSPBridge/UAVOMSPBridge.c

/**
 ******************************************************************************
 * @addtogroup TauLabsModules TauLabs Modules
 * @{
 * @addtogroup UAVOMSPBridge UAVO to MSP Bridge Module
 * @{
 *
 * @file       uavomspbridge.c
 * @author     Tau Labs, http://taulabs.org, Copyright (C) 2015
 * @author     dRonin, http://dronin.org Copyright (C) 2015-2016
 * @brief      Bridges selected UAVObjects to MSP for MWOSD and the like.
 *
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 *
 * Additional note on redistribution: The copyright and license notices above
 * must be maintained in each individual source file that is a derivative work
 * of this source file; otherwise redistribution is prohibited.
 */

#include "openpilot.h"
//#include "physical_constants.h"
#include "receiverstatus.h"
#include "hwsettings.h"
#include "flightmodesettings.h"
#include "flightbatterysettings.h"
#include "flightbatterystate.h"
#include "gpspositionsensor.h"
#include "manualcontrolcommand.h"
#include "accessorydesired.h"
#include "attitudestate.h"
#include "airspeedstate.h"
#include "actuatorsettings.h"
#include "actuatordesired.h"
#include "flightstatus.h"
#include "systemstats.h"
#include "systemalarms.h"
#include "homelocation.h"
#include "barosensor.h"
#include "stabilizationdesired.h"
#include "taskinfo.h"
#include "stabilizationsettings.h"
#include "stabilizationbank.h"
#include "stabilizationsettingsbank1.h"
#include "stabilizationsettingsbank2.h"
#include "stabilizationsettingsbank3.h"
#include "magstate.h"

//#include "pios_thread.h"
#include "pios_sensors.h"


#define WGS84_RADIUS_EARTH_KM          6371.008f  // Earth's radius in km
#define PI 3.14159265358979323846f // [-]

#define PIOS_INCLUDE_MSP_BRIDGE

#if defined(PIOS_INCLUDE_MSP_BRIDGE)

#define MSP_SENSOR_ACC (1 << 0)
#define MSP_SENSOR_BARO (1 << 1)
#define MSP_SENSOR_MAG (1 << 2)
#define MSP_SENSOR_GPS (1 << 3)
#define MSP_SENSOR_SONAR (1 << 4)

// Magic numbers copied from mwosd
#define  MSP_IDENT      100 // multitype + multiwii version + protocol version + capability variable
#define  MSP_STATUS     101 // cycletime & errors_count & sensor present & box activation & current setting number
#define  MSP_RAW_IMU    102 // 9 DOF
#define  MSP_SERVO      103 // 8 servos
#define  MSP_MOTOR      104 // 8 motors
#define  MSP_RC         105 // 8 rc chan and more
#define  MSP_RAW_GPS    106 // fix, numsat, lat, lon, alt, speed, ground course
#define  MSP_COMP_GPS   107 // distance home, direction home
#define  MSP_ATTITUDE   108 // 2 angles 1 heading
#define  MSP_ALTITUDE   109 // altitude, variometer
#define  MSP_ANALOG     110 // vbat, powermetersum, rssi if available on RX
#define  MSP_RC_TUNING  111 // rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define  MSP_PID        112 // P I D coeff (10 are used currently)
#define  MSP_BOX        113 // BOX setup (number is dependant of your setup)
#define  MSP_MISC       114 // powermeter trig
#define  MSP_MOTOR_PINS 115 // which pins are in use for motors & servos, for GUI
#define  MSP_BOXNAMES   116 // the aux switch names
#define  MSP_PIDNAMES   117 // the PID names
#define  MSP_BOXIDS     119 // get the permanent IDs associated to BOXes
#define  MSP_NAV_STATUS 121 // Returns navigation status
#define  MSP_CELLS      130 // FrSky SPort Telemtry
#define  MSP_ALARMS     242 // Alarm request

#define  MSP_SET_PID    202 // set P I D coeff

typedef enum {
	MSP_BOX_ID_ARM,
	MSP_BOX_ID_ANGLE, // mode.stable (attitude??) - [sensor icon] [ fligth mode icon ]
	MSP_BOX_ID_HORIZON, // [sensor icon] [ flight mode icon ]
	MSP_BOX_ID_BARO, // [sensor icon]
	MSP_BOX_ID_VARIO,
	MSP_BOX_ID_MAG, // [sensor icon]
	MSP_BOX_ID_HEADFREE,
	MSP_BOX_ID_HEADADJ,
	MSP_BOX_ID_CAMSTAB, // [gimbal icon]
	MSP_BOX_ID_CAMTRIG,
	MSP_BOX_ID_GPSHOME, // [ flight mode icon ]
	MSP_BOX_ID_GPSHOLD, // [ flight mode icon ]
	MSP_BOX_ID_PASSTHRU, // [ flight mode icon ]
	MSP_BOX_ID_BEEPER,
	MSP_BOX_ID_LEDMAX,
	MSP_BOX_ID_LEDLOW,
	MSP_BOX_ID_LLIGHTS, // landing lights
	MSP_BOX_ID_CALIB,
	MSP_BOX_ID_GOVERNOR,
	MSP_BOX_ID_OSD_SWITCH, // OSD on or off, maybe.
	MSP_BOX_ID_GPSMISSION, // [ flight mode icon ]
	MSP_BOX_ID_GPSLAND, // [ flight mode icon ]
	
	MSP_BOX_ID_AIR = 28, // this box will add AIRMODE icon to flight mode.
	MSP_BOX_ID_ACROPLUS = 29, // this will add PLUS icon to ACRO. ACRO = !ANGLE && !HORIZON
} msp_boxid_t;

enum
{
  MSP_STATUS_ARMED,
  MSP_STATUS_FLIGHTMODE_STABILIZED,
  MSP_STATUS_FLIGHTMODE_HORIZON,
  MSP_STATUS_SENSOR_BARO,
  MSP_STATUS_SENSOR_MAG,
  MSP_STATUS_MISC_GIMBAL,
  MSP_STATUS_FLIGHTMODE_GPSHOME,
  MSP_STATUS_FLIGHTMODE_GPSHOLD,
  MSP_STATUS_FLIGHTMODE_GPSMISSION,
  MSP_STATUS_FLIGHTMODE_GPSLAND,
  MSP_STATUS_FLIGHTMODE_PASSTHRU,
  MSP_STATUS_OSD_SWITCH,
  MSP_STATUS_ICON_AIRMODE,
  MSP_STATUS_ICON_ACROPLUS,
};

static const uint8_t msp_boxes[] =
{
        [ MSP_STATUS_ARMED ] = MSP_BOX_ID_ARM,
        [ MSP_STATUS_FLIGHTMODE_STABILIZED ] = MSP_BOX_ID_ANGLE, // flight mode
        [ MSP_STATUS_FLIGHTMODE_HORIZON ] = MSP_BOX_ID_HORIZON, // flight mode
        [ MSP_STATUS_SENSOR_BARO ] = MSP_BOX_ID_BARO, // sensor icon only
        [ MSP_STATUS_SENSOR_MAG ] = MSP_BOX_ID_MAG, // sensor icon only
        [ MSP_STATUS_MISC_GIMBAL ] = MSP_BOX_ID_CAMSTAB, // gimbal icon only
        [ MSP_STATUS_FLIGHTMODE_GPSHOME ] = MSP_BOX_ID_GPSHOME, // flight mode
        [ MSP_STATUS_FLIGHTMODE_GPSHOLD ] = MSP_BOX_ID_GPSHOLD, // flight mode
        [ MSP_STATUS_FLIGHTMODE_GPSMISSION ] = MSP_BOX_ID_GPSMISSION, // flight mode
        [ MSP_STATUS_FLIGHTMODE_GPSLAND ] = MSP_BOX_ID_GPSLAND, // flight mode
        [ MSP_STATUS_FLIGHTMODE_PASSTHRU ] = MSP_BOX_ID_PASSTHRU, // flight mode
        [ MSP_STATUS_OSD_SWITCH ] = MSP_BOX_ID_OSD_SWITCH, // switch OSD mode
        [ MSP_STATUS_ICON_AIRMODE ] = MSP_BOX_ID_AIR,
        [ MSP_STATUS_ICON_ACROPLUS ] = MSP_BOX_ID_ACROPLUS,
};

typedef enum {
	MSP_IDLE,
	MSP_HEADER_START,
	MSP_HEADER_M,
	MSP_HEADER_SIZE,
	MSP_HEADER_CMD,
	MSP_FILLBUF,
	MSP_CHECKSUM,
	MSP_DISCARD,
	MSP_MAYBE_UAVTALK2,
	MSP_MAYBE_UAVTALK3,
	MSP_MAYBE_UAVTALK4,
	MSP_MAYBE_UAVTALK_SLOW2,
	MSP_MAYBE_UAVTALK_SLOW3,
	MSP_MAYBE_UAVTALK_SLOW4,
	MSP_MAYBE_UAVTALK_SLOW5,
	MSP_MAYBE_UAVTALK_SLOW6
} msp_state;

typedef struct __attribute__((packed))
{
  uint8_t P, I, D;
} msp_pid_t;

typedef enum {
    PIDROLL,
    PIDPITCH,
    PIDYAW,
    PIDALT,
    PIDPOS,
    PIDPOSR,
    PIDNAVR,
    PIDLEVEL,
    PIDMAG,
    PIDVEL,
    PID_ITEM_COUNT
} pidIndex_e;

  
#define MSP_ANALOG_VOLTAGE (1 << 0)
#define MSP_ANALOG_CURRENT (1 << 1)

struct msp_bridge {
	uintptr_t com;
	
	uint8_t sensors;
	uint8_t analog;

	msp_state state;
	uint8_t cmd_size;
	uint8_t cmd_id;
	uint8_t cmd_i;
	uint8_t checksum;
	union {
		uint8_t data[0];
		// Specific packed data structures go here.
		msp_pid_t piditems[PID_ITEM_COUNT];
	} cmd_data;
};

#if defined(PIOS_MSP_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_MSP_STACK_SIZE
#else
#define STACK_SIZE_BYTES 768
#endif
#define TASK_PRIORITY       (tskIDLE_PRIORITY)

#define MAX_ALARM_LEN 30

#define BOOT_DISPLAY_TIME_MS (10*1000)

static bool module_enabled = false;
static struct msp_bridge *msp;
static int32_t uavoMSPBridgeInitialize(void);
static void uavoMSPBridgeTask(void *parameters);

static void msp_send(struct msp_bridge *m, uint8_t cmd, const uint8_t *data, size_t len)
{
	uint8_t buf[5];
	uint8_t cs = (uint8_t)(len) ^ cmd;

	buf[0] = '$';
	buf[1] = 'M';
	buf[2] = '>';
	buf[3] = (uint8_t)(len);
	buf[4] = cmd;

	PIOS_COM_SendBuffer(m->com, buf, sizeof(buf));
	
	if(len > 0)
	{
	        PIOS_COM_SendBuffer(m->com, data, len);

        	for (unsigned i = 0; i < len; i++) {
	        	cs ^= data[i];
        	}
        }

	cs ^= 0;

	buf[0] = cs;
	PIOS_COM_SendBuffer(m->com, buf, 1);
}

static msp_state msp_state_size(struct msp_bridge *m, uint8_t b)
{
	m->cmd_size = b;
	m->checksum = b;
	return MSP_HEADER_CMD;
}

static msp_state msp_state_cmd(struct msp_bridge *m, uint8_t b)
{
	m->cmd_i = 0;
	m->cmd_id = b;
	m->checksum ^= m->cmd_id;

	if (m->cmd_size > sizeof(m->cmd_data)) {
		// Too large a body.  Let's ignore it.
		return MSP_DISCARD;
	}

	return m->cmd_size == 0 ? MSP_CHECKSUM : MSP_FILLBUF;
}

static msp_state msp_state_fill_buf(struct msp_bridge *m, uint8_t b)
{
	m->cmd_data.data[m->cmd_i++] = b;
	m->checksum ^= b;
	return m->cmd_i == m->cmd_size ? MSP_CHECKSUM : MSP_FILLBUF;
}

static void msp_send_attitude(struct msp_bridge *m)
{
	union {
		uint8_t buf[0];
		struct {
			int16_t x;
			int16_t y;
			int16_t h;
		} att;
	} data;
	AttitudeStateData attState;

	AttitudeStateGet(&attState);

	// Roll and Pitch are in 10ths of a degree.
	data.att.x = attState.Roll * 10;
	data.att.y = attState.Pitch * -10;
	// Yaw is just -180 -> 180
	data.att.h = attState.Yaw;

	msp_send(m, MSP_ATTITUDE, data.buf, sizeof(data));
}

#define IS_STAB_MODE(d,m) ( ( (d).Roll == (m)) && ((d).Pitch == (m)) )

static void msp_send_status(struct msp_bridge *m)
{
	union {
		uint8_t buf[0];
		struct {
			uint16_t cycleTime;
			uint16_t i2cErrors;
			uint16_t sensors;
			uint32_t flags;
			uint8_t setting;
		} __attribute__((packed)) status;
	} data;
	// TODO: https://github.com/TauLabs/TauLabs/blob/next/shared/uavobjectdefinition/actuatordesired.xml#L8
	data.status.cycleTime = 0;
	data.status.i2cErrors = 0;
	
	data.status.sensors = m->sensors;
	
	if(GPSPositionSensorHandle() != NULL)
	{
	   GPSPositionSensorStatusOptions gpsStatus;
	   GPSPositionSensorStatusGet(&gpsStatus);
	   
	   if(gpsStatus != GPSPOSITIONSENSOR_STATUS_NOGPS)
	   {
	     data.status.sensors |= MSP_SENSOR_GPS;
	   }
	}

	data.status.flags = 0;
	data.status.setting = 0;

	FlightStatusData flightStatus;
	FlightStatusGet(&flightStatus);
	
	StabilizationDesiredStabilizationModeData stabModeData;
	StabilizationDesiredStabilizationModeGet(&stabModeData);
	
	if( flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED )
	{
          data.status.flags |= (1 << MSP_STATUS_ARMED);
	}
	
	// flightmode
	
	if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD )
	{
           data.status.flags |= ( 1 << MSP_STATUS_FLIGHTMODE_GPSHOLD ); 
	}
	else if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE )
	{
           data.status.flags |= ( 1 << MSP_STATUS_FLIGHTMODE_GPSHOME );
	}
	else if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER )
	{
           data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_GPSMISSION);
	}
	else if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_LAND )
	{
           data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_GPSLAND);
	}
	else if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_MANUAL )
	{
	  data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_PASSTHRU);
	}
	else
	{ //
	  // if Roll(Rate) && Pitch(Rate) => Acro
	  // if Roll(Acro+) && Pitch(Acro+) => Acro+
	  // if Roll(Rattitude) && Pitch(Rattitude) => Horizon
	  // else => Stabilized
	  
	  if( IS_STAB_MODE( stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_RATE ) 
	    || IS_STAB_MODE( stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_RATETRAINER ) )
	  {
	     // data.status.flags should not set any mode flags
	  }
          else if( IS_STAB_MODE( stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO ) ) // this is Acro+ mode
          {
              data.status.flags |= ( 1 << MSP_STATUS_ICON_ACROPLUS );
          }
          else if( IS_STAB_MODE( stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE ) )
          {
              data.status.flags |= ( 1 << MSP_STATUS_FLIGHTMODE_HORIZON );
          }
          else // looks like stabilized mode, whichever it is..
          {
              data.status.flags |= ( 1 << MSP_STATUS_FLIGHTMODE_STABILIZED );
          }
	}
	
	// sensors in use?
	// flight mode HORIZON or STABILIZED will turn on Accelerometer icon.
	// Barometer?
	
	if( ( stabModeData.Thrust == STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD )
	 || ( stabModeData.Thrust == STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO ) )
	{
           data.status.flags |= ( 1 << MSP_STATUS_SENSOR_BARO );
	}
	 
	if( MagStateHandle() != NULL )
	{
            MagStateSourceOptions magSource;
            MagStateSourceGet(&magSource);
            
            if(magSource != MAGSTATE_SOURCE_INVALID)
            {
              data.status.flags |= ( 1 << MSP_STATUS_SENSOR_MAG );
            }
	}
	
	if( flightStatus.AlwaysStabilizeWhenArmed == FLIGHTSTATUS_ALWAYSSTABILIZEWHENARMED_TRUE )
	{
          data.status.flags |= ( 1 << MSP_STATUS_ICON_AIRMODE );
	}

	msp_send(m, MSP_STATUS, data.buf, sizeof(data));
}

static void msp_send_analog(struct msp_bridge *m)
{
	union {
		uint8_t buf[0];
		struct {
			uint8_t vbat;
			uint16_t powerMeterSum;
			uint16_t rssi;
			uint16_t current;
		} __attribute__((packed)) status;
	} data;

	data.status.powerMeterSum = 0;
	
	if(FlightBatteryStateHandle() != NULL) {
            FlightBatteryStateData batState;
            FlightBatteryStateGet(&batState);

            if(m->analog & MSP_ANALOG_VOLTAGE) {
              data.status.vbat = (uint8_t)lroundf(batState.Voltage * 10);
            }
            if(m->analog & MSP_ANALOG_CURRENT) {
              data.status.current = lroundf(batState.Current * 100);
              data.status.powerMeterSum = lroundf(batState.ConsumedEnergy);
            }
	}

	uint8_t quality;
	ReceiverStatusQualityGet(&quality);
	
	// MSP RSSI's range is 0-1023

	data.status.rssi = (quality * 1023) / 100;
	
	if(data.status.rssi > 1023) {
	        data.status.rssi = 1023;
	}

	msp_send(m, MSP_ANALOG, data.buf, sizeof(data));
}

static void msp_send_ident(__attribute__((unused)) struct msp_bridge *m)
{
	// TODO
}

static void msp_send_raw_gps(struct msp_bridge *m)
{
	union {
		uint8_t buf[0];
		struct {
			uint8_t  fix;                 // 0 or 1
			uint8_t  num_sat;
			int32_t lat;                  // 1 / 10 000 000 deg
			int32_t lon;                  // 1 / 10 000 000 deg
			uint16_t alt;                 // meter
			uint16_t speed;               // cm/s
			int16_t ground_course;        // degree * 10
		} __attribute__((packed)) raw_gps;
	} data;
	
	GPSPositionSensorData gps_data;
	
	if (GPSPositionSensorHandle() != NULL)
	{
		GPSPositionSensorGet(&gps_data);

		data.raw_gps.fix           = (gps_data.Status >= GPSPOSITIONSENSOR_STATUS_FIX2D ? 1 : 0);  // Data will display on OSD if 2D fix or better
		data.raw_gps.num_sat       = gps_data.Satellites;
		data.raw_gps.lat           = gps_data.Latitude;
		data.raw_gps.lon           = gps_data.Longitude;
		data.raw_gps.alt           = (uint16_t)gps_data.Altitude;
		data.raw_gps.speed         = (uint16_t)gps_data.Groundspeed;
		data.raw_gps.ground_course = (int16_t)(gps_data.Heading * 10.0f);
		
		msp_send(m, MSP_RAW_GPS, data.buf, sizeof(data));
		
	}
}

static void msp_send_comp_gps(struct msp_bridge *m)
{
	union {
		uint8_t buf[0];
		struct {
			uint16_t distance_to_home;     // meter
			int16_t  direction_to_home;    // degree [-180:180]
			uint8_t  home_position_valid;  // 0 = Invalid, Dronin MSP specific
		} __attribute__((packed)) comp_gps;
	} data;
	
	GPSPositionSensorData gps_data;
	HomeLocationData home_data;
	
	if ((GPSPositionSensorHandle() == NULL) || (HomeLocationHandle() == NULL))
	{
		data.comp_gps.distance_to_home    = 0;
		data.comp_gps.direction_to_home   = 0;
		data.comp_gps.home_position_valid = 0;  // Home distance and direction will not display on OSD
	}
	else
	{
		GPSPositionSensorGet(&gps_data);
		HomeLocationGet(&home_data);
		
		if((gps_data.Status < GPSPOSITIONSENSOR_STATUS_FIX2D) || (home_data.Set == HOMELOCATION_SET_FALSE))
		{
			data.comp_gps.distance_to_home    = 0;
			data.comp_gps.direction_to_home   = 0;
			data.comp_gps.home_position_valid = 0;  // Home distance and direction will not display on OSD
		}
		else
		{
			data.comp_gps.home_position_valid = 1;  // Home distance and direction will display on OSD
			
			int32_t delta_lon = (home_data.Longitude - gps_data.Longitude);  // degrees * 1e7
			int32_t delta_lat = (home_data.Latitude  - gps_data.Latitude );  // degrees * 1e7
	
			float delta_y = DEG2RAD( (float)delta_lon * WGS84_RADIUS_EARTH_KM );  // KM * 1e7
			float delta_x = DEG2RAD( (float)delta_lat * WGS84_RADIUS_EARTH_KM );  // KM * 1e7
	
			delta_y *= cosf( DEG2RAD((float)home_data.Latitude * 1e-7f) );  // Latitude compression correction
	
			data.comp_gps.distance_to_home  = (uint16_t)(sqrtf(delta_x * delta_x + delta_y * delta_y) * 1e-4f);  // meters
	
			if ((delta_lon == 0) && (delta_lat == 0))
				data.comp_gps.direction_to_home = 0;
			else
				data.comp_gps.direction_to_home = RAD2DEG((int16_t)(atan2f(delta_y, delta_x))); // degrees;
		}			

                msp_send(m, MSP_COMP_GPS, data.buf, sizeof(data));
	}


}

static void msp_send_altitude(struct msp_bridge *m)
{
	union {
		uint8_t buf[0];
		struct {
			int32_t alt; // cm
			uint16_t vario; // cm/s
		} __attribute__((packed)) baro;
	} data;


	if (BaroSensorHandle() != NULL)
	{
                BaroSensorData baro;
		BaroSensorGet(&baro);

        	data.baro.alt = (int32_t)roundf(baro.Altitude * 100.0f);

        	msp_send(m, MSP_ALTITUDE, data.buf, sizeof(data));
        }
}

// Scale stick values whose input range is -1 to 1 to MSP's expected
// PWM range of 1000-2000.
static uint16_t msp_scale_rc(float percent) {
	return percent*500 + 1500;
}

// Throttle maps to 1100-1900 and a bit differently as -1 == 1000 and
// then jumps immediately to 0 -> 1 for the rest of the range.  MWOSD
// can learn ranges as wide as they are sent, but defaults to
// 1100-1900 so the throttle indicator will vary for the same stick
// position unless we send it what it wants right away.
static uint16_t msp_scale_rc_thr(float percent) {
	return percent <= 0 ? 1100 : percent*800 + 1100;
}

// MSP RC order is Roll/Pitch/Yaw/Throttle/AUX1/AUX2/AUX3/AUX4
static void msp_send_channels(struct msp_bridge *m)
{
	AccessoryDesiredData acc0, acc1, acc2;
	ManualControlCommandData manualState;
	ManualControlCommandGet(&manualState);
	AccessoryDesiredInstGet(0, &acc0);
	AccessoryDesiredInstGet(1, &acc1);
	AccessoryDesiredInstGet(2, &acc2);

	union {
		uint8_t buf[0];
		uint16_t channels[8];
	} data = {
		.channels = {
			msp_scale_rc(manualState.Roll),
			msp_scale_rc(manualState.Pitch * -1), // TL pitch is backwards
			msp_scale_rc(manualState.Yaw),
			msp_scale_rc_thr(manualState.Throttle),
			msp_scale_rc(acc0.AccessoryVal),
			msp_scale_rc(acc1.AccessoryVal),
			msp_scale_rc(acc2.AccessoryVal),
			1000, // no aux4
		}
	};

	msp_send(m, MSP_RC, data.buf, sizeof(data));
}

static void msp_send_boxids(struct msp_bridge *m) { // This is actually sending a map of MSP_STATUS.flag bits to BOX ids.
        msp_send( m, MSP_BOXIDS, msp_boxes, sizeof( msp_boxes ) );
}

static StabilizationSettingsFlightModeMapOptions get_current_stabilization_bank()
{
  uint8_t fm;
  ManualControlCommandFlightModeSwitchPositionGet(&fm);

  if( fm >= FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM )
  {
    return STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK1;
  }
  
  StabilizationSettingsFlightModeMapOptions flightModeMap[STABILIZATIONSETTINGS_FLIGHTMODEMAP_NUMELEM];
  StabilizationSettingsFlightModeMapGet(flightModeMap);
  
  return flightModeMap[fm];
}

static void get_current_stabilizationbankdata( StabilizationBankData *bankData )
{
  switch( get_current_stabilization_bank() )
  {
    case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK1:
      StabilizationSettingsBank1Get( (StabilizationSettingsBank1Data *) bankData );
      break;
    case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK2:
      StabilizationSettingsBank2Get( (StabilizationSettingsBank2Data *) bankData );
      break;
    case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK3:
      StabilizationSettingsBank3Get( (StabilizationSettingsBank3Data *) bankData );
      break;
  }
}

static void set_current_stabilizationbankdata( const StabilizationBankData *bankData )
{
  // update just relevant parts. or not.
  switch( get_current_stabilization_bank() )
  {
    case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK1:
      StabilizationSettingsBank1Set( (const StabilizationSettingsBank1Data *) bankData  );
      break;
    case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK2:
      StabilizationSettingsBank2Set( (const StabilizationSettingsBank2Data *) bankData  );
      break;
    case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK3:
      StabilizationSettingsBank3Set( (const StabilizationSettingsBank3Data *) bankData  );
      break;
  }
}

static void pid_native2msp( const float *native, msp_pid_t *piditem )
{
  piditem->P = native[0] * 10000;
  piditem->I = native[1] * 10000;
  piditem->D = native[2] * 10000;
}

static void pid_msp2native( const msp_pid_t *piditem, float *native )
{
  native[0] = (float)piditem->P / 10000;
  native[1] = (float)piditem->I / 10000;
  native[2] = (float)piditem->D / 10000;
}

static void msp_send_pid(struct msp_bridge *m)
{
  StabilizationBankData bankData;
  
  get_current_stabilizationbankdata( &bankData );
  
  msp_pid_t piditems[ PID_ITEM_COUNT ];

  memset(piditems, 0, sizeof( piditems ) ); 
  
  pid_native2msp( (float *) &bankData.RollRatePID, &piditems[ PIDROLL ] );
  pid_native2msp( (float *) &bankData.PitchRatePID, &piditems[ PIDPITCH ] );
  pid_native2msp( (float *) &bankData.YawRatePID, &piditems[ PIDYAW ] );
  
  msp_send( m, MSP_PID, (const uint8_t *) piditems, sizeof( piditems ) );
}

static void msp_set_pid(struct msp_bridge *m)
{
  StabilizationBankData bankData;
  
  get_current_stabilizationbankdata( &bankData );
  
  pid_msp2native( &m->cmd_data.piditems[ PIDROLL ], (float *) &bankData.RollRatePID );
  pid_msp2native( &m->cmd_data.piditems[ PIDPITCH ], (float *) &bankData.PitchRatePID );
  pid_msp2native( &m->cmd_data.piditems[ PIDYAW ], (float *) &bankData.YawRatePID );
  
  set_current_stabilizationbankdata( &bankData );
  
  msp_send( m, MSP_SET_PID, 0, 0 ); // send ack.
}

#define ALARM_OK 0
#define ALARM_WARN 1
#define ALARM_ERROR 2
#define ALARM_CRIT 3

#define MS2TICKS(m) ((m) / (portTICK_RATE_MS))

static void msp_send_alarms(__attribute__((unused)) struct msp_bridge *m) {
#if 0
	union {
		uint8_t buf[0];
		struct {
			uint8_t state;
			char msg[MAX_ALARM_LEN];
		} __attribute__((packed)) alarm;
	} data;

	SystemAlarmsData alarm;
	SystemAlarmsGet(&alarm);

	// Special case early boot times -- just report boot reason


	if (xTaskGetTickCount() < MS2TICKS(10*1000)) {
		data.alarm.state = ALARM_CRIT;
		const char *boot_reason = AlarmBootReason(alarm.RebootCause);
		strncpy((char*)data.alarm.msg, boot_reason, MAX_ALARM_LEN);
		data.alarm.msg[MAX_ALARM_LEN-1] = '\0';
		msp_send(m, MSP_ALARMS, data.buf, strlen((char*)data.alarm.msg)+1);
		return;
	}

	uint8_t state;
	data.alarm.state = ALARM_OK;
	int32_t len = AlarmString(&alarm, data.alarm.msg,
				  sizeof(data.alarm.msg), false, &state);
	switch (state) {
	case SYSTEMALARMS_ALARM_WARNING:
		data.alarm.state = ALARM_WARN;
		break;
	case SYSTEMALARMS_ALARM_ERROR:
		break;
	case SYSTEMALARMS_ALARM_CRITICAL:
		data.alarm.state = ALARM_CRIT;;
	}

	msp_send(m, MSP_ALARMS, data.buf, len+1);
#endif
}

static msp_state msp_state_checksum(struct msp_bridge *m, uint8_t b)
{
	if ((m->checksum ^ b) != 0) {
		return MSP_IDLE;
	}

	// Respond to interesting things.
	switch (m->cmd_id) {
	case MSP_IDENT:
		msp_send_ident(m);
		break;
	case MSP_RAW_GPS:
		msp_send_raw_gps(m);
		break;
	case MSP_COMP_GPS:
		msp_send_comp_gps(m);
		break;
	case MSP_ALTITUDE:
		msp_send_altitude(m);
		break;
	case MSP_ATTITUDE:
		msp_send_attitude(m);
		break;
	case MSP_STATUS:
		msp_send_status(m);
		break;
	case MSP_ANALOG:
		msp_send_analog(m);
		break;
	case MSP_RC:
		msp_send_channels(m);
		break;
	case MSP_BOXIDS:
		msp_send_boxids(m);
		break;
	case MSP_ALARMS:
		msp_send_alarms(m);
		break;
        case MSP_PID:
                msp_send_pid(m);
                break;
        case MSP_SET_PID:
                msp_set_pid(m);
                break;
	}
	
	return MSP_IDLE;
}

static msp_state msp_state_discard(struct msp_bridge *m, __attribute__((unused)) uint8_t b)
{
	return m->cmd_i++ == m->cmd_size ? MSP_IDLE : MSP_DISCARD;
}

/**
 * Process incoming bytes from an MSP query thing.
 * @param[in] b received byte
 * @return true if we should continue processing bytes
 */
static bool msp_receive_byte(struct msp_bridge *m, uint8_t b)
{
	switch (m->state) {
	case MSP_IDLE:
		switch (b) {
		case 0xe0: // uavtalk matching first part of 0x3c @ 57600 baud
			m->state = MSP_MAYBE_UAVTALK_SLOW2;
			break;
		case '<': // uavtalk matching with 0x3c 0x2x 0xxx 0x0x
			m->state = MSP_MAYBE_UAVTALK2;
			break;
		case '$':
			m->state = MSP_HEADER_START;
			break;
		default:
			m->state = MSP_IDLE;
		}
		break;
	case MSP_HEADER_START:
		m->state = b == 'M' ? MSP_HEADER_M : MSP_IDLE;
		break;
	case MSP_HEADER_M:
		m->state = b == '<' ? MSP_HEADER_SIZE : MSP_IDLE;
		break;
	case MSP_HEADER_SIZE:
		m->state = msp_state_size(m, b);
		break;
	case MSP_HEADER_CMD:
		m->state = msp_state_cmd(m, b);
		break;
	case MSP_FILLBUF:
		m->state = msp_state_fill_buf(m, b);
		break;
	case MSP_CHECKSUM:
		m->state = msp_state_checksum(m, b);
		break;
	case MSP_DISCARD:
		m->state = msp_state_discard(m, b);
		break;
	case MSP_MAYBE_UAVTALK2:
		// e.g. 3c 20 1d 00
		// second possible uavtalk byte
		m->state = (b&0xf0) == 0x20 ? MSP_MAYBE_UAVTALK3 : MSP_IDLE;
		break;
	case MSP_MAYBE_UAVTALK3:
		// third possible uavtalk byte can be anything
		m->state = MSP_MAYBE_UAVTALK4;
		break;
	case MSP_MAYBE_UAVTALK4:
		m->state = MSP_IDLE;
		// If this looks like the fourth possible uavtalk byte, we're done
		if ((b & 0xf0) == 0) {
			PIOS_COM_TELEM_RF = m->com;
			return false;
		}
		break;
	case MSP_MAYBE_UAVTALK_SLOW2:
		m->state = b == 0x18 ? MSP_MAYBE_UAVTALK_SLOW3 : MSP_IDLE;
		break;
	case MSP_MAYBE_UAVTALK_SLOW3:
		m->state = b == 0x98 ? MSP_MAYBE_UAVTALK_SLOW4 : MSP_IDLE;
		break;
	case MSP_MAYBE_UAVTALK_SLOW4:
		m->state = b == 0x7e ? MSP_MAYBE_UAVTALK_SLOW5 : MSP_IDLE;
		break;
	case MSP_MAYBE_UAVTALK_SLOW5:
		m->state = b == 0x00 ? MSP_MAYBE_UAVTALK_SLOW6 : MSP_IDLE;
		break;
	case MSP_MAYBE_UAVTALK_SLOW6:
		m->state = MSP_IDLE;
		// If this looks like the sixth possible 57600 baud uavtalk byte, we're done
		if(b == 0x60) {
			PIOS_COM_ChangeBaud(m->com, 57600);
			PIOS_COM_TELEM_RF = m->com;
			return false;
		}
		break;
	}

	return true;
}

/**
 * Module start routine automatically called after initialization routine
 * @return 0 when was successful
 */
static int32_t uavoMSPBridgeStart(void)
{
	if (!module_enabled) {
		// give port to telemetry if it doesn't have one
		// stops board getting stuck in condition where it can't be connected to gcs
		if(!PIOS_COM_TELEM_RF)
			PIOS_COM_TELEM_RF = pios_com_msp_id;

		return -1;
	}

	xTaskHandle taskHandle;
	
	xTaskCreate(uavoMSPBridgeTask, "uavoMSPBridge", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
	PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_UAVOMSPBRIDGE, taskHandle);

	return 0;
}

static uint32_t hwsettings_mspspeed_enum_to_baud(uint8_t baud)
{
    switch (baud) {
    case HWSETTINGS_MSPSPEED_2400:
        return 2400;

    case HWSETTINGS_MSPSPEED_4800:
        return 4800;

    case HWSETTINGS_MSPSPEED_9600:
        return 9600;

    case HWSETTINGS_MSPSPEED_19200:
        return 19200;

    case HWSETTINGS_MSPSPEED_38400:
        return 38400;

    case HWSETTINGS_MSPSPEED_57600:
        return 57600;

    default:
    case HWSETTINGS_MSPSPEED_115200:
        return 115200;
    }
}


/**
 * Module initialization routine
 * @return 0 when initialization was successful
 */
static int32_t uavoMSPBridgeInitialize(void)
{
	if (pios_com_msp_id) {
		msp = pios_malloc(sizeof(*msp));
		if (msp != NULL) {
			memset(msp, 0x00, sizeof(*msp));

			msp->com = pios_com_msp_id;
			
			// now figure out enabled features: registered sensors, ADC routing, GPS
			
                        if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_3AXIS_ACCEL ) )
                        {
                          msp->sensors |= MSP_SENSOR_ACC;
                        }
                        if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_1AXIS_BARO ) )
                        {
                          msp->sensors |= MSP_SENSOR_BARO;
                        }
                        if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_3AXIS_MAG|PIOS_SENSORS_TYPE_3AXIS_AUXMAG ) )
                        {
                          msp->sensors |= MSP_SENSOR_MAG;
                        }
#ifdef PIOS_SENSORS_TYPE_1AXIS_SONAR
                        if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_1AXIS_SONAR ) )
                        {
                          msp->sensors |= MSP_SENSOR_SONAR;
                        }
#endif
                        
                        // MAP_SENSOR_GPS is hot-pluggable type
                        
                        HwSettingsADCRoutingDataArray adcRoutingDataArray;
                        HwSettingsADCRoutingArrayGet(adcRoutingDataArray.array);

                        for(unsigned i = 0; i < sizeof(adcRoutingDataArray.array)/sizeof(adcRoutingDataArray.array[0]); ++i)
                        {
                          switch( adcRoutingDataArray.array[i] )
                          {
                                case HWSETTINGS_ADCROUTING_BATTERYVOLTAGE:
                                  msp->analog |= MSP_ANALOG_VOLTAGE;
                                  break;
                                case HWSETTINGS_ADCROUTING_BATTERYCURRENT:
                                  msp->analog |= MSP_ANALOG_CURRENT;
                                  break;
                                default:;
                          }
                        }
                        
                        
                        HwSettingsMSPSpeedOptions mspSpeed;
                        HwSettingsMSPSpeedGet(&mspSpeed);
                        
                        PIOS_COM_ChangeBaud(pios_com_msp_id, hwsettings_mspspeed_enum_to_baud(mspSpeed));
                                                
			module_enabled = true;
			return 0;
		}
	}

	return -1;
}
MODULE_INITCALL(uavoMSPBridgeInitialize, uavoMSPBridgeStart);

/**
 * Main task routine
 * @param[in] parameters parameter given by PIOS_Thread_Create()
 */
static void uavoMSPBridgeTask(__attribute__((unused)) void *parameters)
{
	while (1) {
		uint8_t b = 0;
		uint16_t count = PIOS_COM_ReceiveBuffer(msp->com, &b, 1, ~0);
		if (count) {
			if (!msp_receive_byte(msp, b)) {
				// Returning is considered risky here as
				// that's unusual and this is an edge case.
				while (1) {
				        PIOS_DELAY_WaitmS(60*1000);
				}
			}
		}
	}
}

#endif //PIOS_INCLUDE_MSP_BRIDGE
/**
 * @}
 * @}
 */