fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-27 01:30:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merged master into beta

Browse Source
This commit is contained in:
Lorenz Meier
2014-02-01 19:13:13 +01:00
parent dd7c198268 713f35e04e
commit 020e7dcae3
6 changed files with 57 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+41 -9
View File
@@ -210,7 +210,7 @@ transition_result_t set_main_state_rc(struct vehicle_status_s *status);
void set_control_mode();
void print_reject_mode(const char *msg);
void print_reject_mode(struct vehicle_status_s *current_status, const char *msg);
void print_reject_arm(const char *msg);
@@ -657,6 +657,8 @@ int commander_thread_main(int argc, char *argv[])
/* vehicle status topic */
memset(&status, 0, sizeof(status));
status.condition_landed = true; // initialize to safe value
// We want to accept RC inputs as default
status.rc_input_blocked = false;
status.main_state = MAIN_STATE_MANUAL;
status.set_nav_state = NAV_STATE_NONE;
status.set_nav_state_timestamp = 0;
@@ -1104,7 +1106,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* start RC input check */
if (sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;
@@ -1542,7 +1544,7 @@ set_main_state_rc(struct vehicle_status_s *status)
break; // changed successfully or already in this state
// else fallback to SEATBELT
print_reject_mode("EASY");
print_reject_mode(status, "EASY");
}
res = main_state_transition(status, MAIN_STATE_SEATBELT);
@@ -1551,7 +1553,7 @@ set_main_state_rc(struct vehicle_status_s *status)
break; // changed successfully or already in this mode
if (status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages
print_reject_mode("SEATBELT");
print_reject_mode(status, "SEATBELT");
// else fallback to MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
@@ -1565,7 +1567,7 @@ set_main_state_rc(struct vehicle_status_s *status)
break; // changed successfully or already in this state
// else fallback to SEATBELT (EASY likely will not work too)
print_reject_mode("AUTO");
print_reject_mode(status, "AUTO");
res = main_state_transition(status, MAIN_STATE_SEATBELT);
if (res != TRANSITION_DENIED)
@@ -1584,6 +1586,7 @@ set_main_state_rc(struct vehicle_status_s *status)
}
void
set_control_mode()
{
/* set vehicle_control_mode according to main state and failsafe state */
@@ -1680,16 +1683,25 @@ set_control_mode()
}
void
print_reject_mode(const char *msg)
print_reject_mode(struct vehicle_status_s *status, const char *msg)
{
hrt_abstime t = hrt_absolute_time();
if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
last_print_mode_reject_time = t;
char s[80];
sprintf(s, "#audio: warning: reject %s", msg);
sprintf(s, "#audio: REJECT %s", msg);
mavlink_log_critical(mavlink_fd, s);
tune_negative();
// only buzz if armed, because else we're driving people nuts indoors
// they really need to look at the leds as well.
if (status->arming_state == ARMING_STATE_ARMED) {
tune_negative();
} else {
// Always show the led indication
led_negative();
}
}
}
@@ -1837,7 +1849,15 @@ void *commander_low_prio_loop(void *arg)
} else if ((int)(cmd.param4) == 1) {
/* RC calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_rc_calibration(mavlink_fd);
/* disable RC control input completely */
status.rc_input_blocked = true;
calib_ret = OK;
mavlink_log_info(mavlink_fd, "CAL: Disabling RC IN");
} else if ((int)(cmd.param4) == 2) {
/* RC trim calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_trim_calibration(mavlink_fd);
} else if ((int)(cmd.param5) == 1) {
/* accelerometer calibration */
@@ -1848,6 +1868,18 @@ void *commander_low_prio_loop(void *arg)
/* airspeed calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_airspeed_calibration(mavlink_fd);
} else if ((int)(cmd.param4) == 0) {
/* RC calibration ended - have we been in one worth confirming? */
if (status.rc_input_blocked) {
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
/* enable RC control input */
status.rc_input_blocked = false;
mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN");
}
/* this always succeeds */
calib_ret = OK;
}
if (calib_ret == OK)