fly316/PX4-Autopilot
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Merge branch 'master' into navigator_rewrite

Browse Source 
Conflicts:
	src/drivers/gps/gps.cpp
	src/drivers/gps/mtk.cpp
	src/modules/commander/commander.cpp
	src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
	src/modules/navigator/mission.cpp
	src/modules/navigator/mission.h
	src/modules/navigator/navigator_main.cpp
	src/modules/navigator/navigator_state.h
	src/modules/position_estimator_inav/position_estimator_inav_main.c
This commit is contained in:
Julian Oes
2014-05-26 20:19:11 +02:00
parent 68352cb923 36495cdb62
commit 063caba36b
173 changed files with 5312 additions and 1890 deletions
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src/drivers/gps/gps.cpp
+17 -12
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -56,6 +56,7 @@
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/i2c.h>
#include <systemlib/systemlib.h>
#include <systemlib/perf_counter.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/err.h>
@@ -63,6 +64,8 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <board_config.h>
#include "ubx.h"
#include "mtk.h"
@@ -76,12 +79,6 @@
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class GPS : public device::CDev
{
public:
@@ -209,7 +206,8 @@ GPS::init()
goto out;
/* start the GPS driver worker task */
_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
_task = task_spawn_cmd("gps", SCHED_DEFAULT,
SCHED_PRIORITY_SLOW_DRIVER, 2000, (main_t)&GPS::task_main_trampoline, nullptr);
if (_task < 0) {
warnx("task start failed: %d", errno);
@@ -421,7 +419,14 @@ GPS::task_main()
void
GPS::cmd_reset()
{
//XXX add reset?
#ifdef GPIO_GPS_NRESET
warnx("Toggling GPS reset pin");
stm32_configgpio(GPIO_GPS_NRESET);
stm32_gpiowrite(GPIO_GPS_NRESET, 0);
usleep(100);
stm32_gpiowrite(GPIO_GPS_NRESET, 1);
warnx("Toggled GPS reset pin");
#endif
}
void
@@ -443,10 +448,10 @@ GPS::print_info()
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
if (_report.timestamp_position != 0) {
warnx("position lock: %dD, satellites: %d, last update: %fms ago", (int)_report.fix_type,
_report.satellites_visible, (hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report.fix_type,
_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
warnx("eph: %.2fm, epv: %.2fm", _report.eph, _report.epv);
warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph, (double)_report.epv);
warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
warnx("rate publication:\t%6.2f Hz", (double)_rate);