fly316/PX4-Autopilot
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merge from upstream

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luft27
2015-08-03 15:37:39 +03:00
parent bcc7b3d110 5fd88f4d3e
commit 0ba1774fcb
390 changed files with 15141 additions and 6508 deletions
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src/drivers/px4fmu/fmu.cpp
+8 -7
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@@ -164,7 +164,7 @@ private:
unsigned _num_failsafe_set;
unsigned _num_disarmed_set;
static bool arm_nothrottle() { return (_armed.ready_to_arm && !_armed.armed); }
static bool arm_nothrottle() { return (_armed.prearmed && !_armed.armed); }
static void task_main_trampoline(int argc, char *argv[]);
void task_main();
@@ -294,7 +294,8 @@ PX4FMU::PX4FMU() :
memset(_controls, 0, sizeof(_controls));
memset(_poll_fds, 0, sizeof(_poll_fds));
_debug_enabled = true;
/* only enable this during development */
_debug_enabled = false;
}
PX4FMU::~PX4FMU()
@@ -341,9 +342,9 @@ PX4FMU::init()
_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
log("default PWM output device");
/* lets not be too verbose */
} else if (_class_instance < 0) {
log("FAILED registering class device");
warnx("FAILED registering class device");
}
/* reset GPIOs */
@@ -535,11 +536,11 @@ PX4FMU::subscribe()
_poll_fds_num = 0;
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
warnx("subscribe to actuator_controls_%d", i);
debug("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]);
}
if (unsub_groups & (1 << i)) {
warnx("unsubscribe from actuator_controls_%d", i);
debug("unsubscribe from actuator_controls_%d", i);
::close(_control_subs[i]);
_control_subs[i] = -1;
}
@@ -741,7 +742,7 @@ PX4FMU::task_main()
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
/* update the armed status and check that we're not locked down */
bool set_armed = (_armed.armed || _armed.ready_to_arm) && !_armed.lockdown;
bool set_armed = (_armed.armed || _armed.prearmed) && !_armed.lockdown;
if (_servo_armed != set_armed) {
_servo_armed = set_armed;