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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/geofence.cpp
+3 -2
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@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
/**
* @file geofence.cpp
* Provides functions for handling the geofence
*
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "geofence.h"
src/modules/navigator/geofence.h
+3 -2
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@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
/**
* @file geofence.h
* Provides functions for handling the geofence
*
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef GEOFENCE_H_
src/modules/navigator/mission.cpp
+2 -2
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@@ -139,7 +139,7 @@ Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool
return true;
}
}
/* otherwise fallback to offboard */
if (_current_offboard_mission_index < _offboard_mission_item_count) {
@@ -246,7 +246,7 @@ void
Mission::move_to_next()
{
report_mission_item_reached();
switch (_current_mission_type) {
case MISSION_TYPE_ONBOARD:
_current_onboard_mission_index++;
src/modules/navigator/mission.h
+2
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@@ -34,6 +34,8 @@
* @file navigator_mission.h
* Helper class to access missions
* @author Julian Oes <julian@oes.ch>
*
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef NAVIGATOR_MISSION_H
src/modules/navigator/mission_feasibility_checker.cpp
+7 -6
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@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
/**
* @file mission_feasibility_checker.cpp
* Provides checks if mission is feasible given the navigation capabilities
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
*/
#include "mission_feasibility_checker.h"
@@ -100,8 +101,8 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
/* Check if all mission items are inside the geofence (if we have a valid geofence) */
if (geofence.valid()) {
for (size_t i = 0; i < nMissionItems; i++) {
static struct mission_item_s missionitem;
const ssize_t len = sizeof(struct mission_item_s);
struct mission_item_s missionitem;
const ssize_t len = sizeof(missionitem);
if (dm_read(dm_current, i, &missionitem, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
@@ -125,8 +126,8 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size
for (size_t i = 0; i < nMissionItems; i++) {
static struct mission_item_s missionitem;
const ssize_t len = sizeof(struct mission_item_s);
struct mission_item_s missionitem;
const ssize_t len = sizeof(missionitem);
if (dm_read(dm_current, i, &missionitem, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
src/modules/navigator/mission_feasibility_checker.h
+4 -2
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@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,7 +33,11 @@
/**
* @file mission_feasibility_checker.h
* Provides checks if mission is feasible given the navigation capabilities
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
*/
#ifndef MISSION_FEASIBILITY_CHECKER_H_
#define MISSION_FEASIBILITY_CHECKER_H_
src/modules/navigator/module.mk
+2
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@@ -47,3 +47,5 @@ SRCS = navigator_main.cpp \
geofence_params.c
INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
MODULE_STACKSIZE = 1200
src/modules/navigator/navigator_main.cpp
+6 -6
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2014 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
@@ -410,7 +410,7 @@ Navigator::parameters_update()
param_get(_parameter_handles.acceptance_radius, &(_parameters.acceptance_radius));
param_get(_parameter_handles.loiter_radius, &(_parameters.loiter_radius));
param_get(_parameter_handles.onboard_mission_enabled, &(_parameters.onboard_mission_enabled));
param_get(_parameter_handles.takeoff_alt, &(_parameters.takeoff_alt));
param_get(_parameter_handles.takeoff_alt, &(_parameters.takeoff_alt));
_mission.set_onboard_mission_allowed((bool)_parameters.onboard_mission_enabled);
@@ -728,7 +728,7 @@ Navigator::start()
_navigator_task = task_spawn_cmd("navigator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
2000,
(main_t)&Navigator::task_main_trampoline,
nullptr);
@@ -946,7 +946,7 @@ Navigator::start_loiter()
mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude");
_update_triplet = true;
return true;
return true;
}
bool
@@ -999,7 +999,7 @@ Navigator::set_mission_items()
/* convert the current mission item and set it valid */
mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current);
_pos_sp_triplet.current.valid = true;
mission_item_s next_mission_item;
@@ -1206,7 +1206,7 @@ Navigator::check_mission_item_reached()
}
if (_waypoint_position_reached && !_waypoint_yaw_reached) {
/* TODO: removed takeoff, why? */
if (_vstatus.is_rotary_wing && isfinite(_mission_item.yaw)) {
src/modules/navigator/navigator_params.c
-3
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@@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions