fly316/PX4-Autopilot
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Merge remote-tracking branch 'upstream/master' into linux

Browse Source 
Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Conflicts:
	makefiles/firmware.mk
	src/modules/commander/module.mk
	src/modules/mavlink/mavlink_ftp.h
	src/modules/mavlink/mavlink_tests/module.mk
This commit is contained in:
Mark Charlebois
2015-05-04 16:36:59 -07:00
parent ed621a6a8d 577bdf3a0d
commit 12a25e4b63
24 changed files with 916 additions and 420 deletions
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src/drivers/gimbal/gimbal.cpp
+3 -3
View File
@@ -306,17 +306,17 @@ Gimbal::cycle()
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att);
if (_attitude_compensation_roll) {
roll = -att.roll;
roll = 1.0f / M_PI_F * -att.roll;
updated = true;
}
if (_attitude_compensation_pitch) {
pitch = -att.pitch;
pitch = 1.0f / M_PI_F * -att.pitch;
updated = true;
}
if (_attitude_compensation_yaw) {
yaw = att.yaw;
yaw = 1.0f / M_PI_F * att.yaw;
updated = true;
}
src/drivers/px4io/px4io.cpp
+25 -4
View File
@@ -302,6 +302,7 @@ private:
float _battery_mamphour_total;///< amp hours consumed so far
uint64_t _battery_last_timestamp;///< last amp hour calculation timestamp
bool _cb_flighttermination; ///< true if the flight termination circuit breaker is enabled
bool _in_esc_calibration_mode; ///< do not send control outputs to IO (used for esc calibration)
int32_t _rssi_pwm_chan; ///< RSSI PWM input channel
int32_t _rssi_pwm_max; ///< max RSSI input on PWM channel
@@ -529,6 +530,7 @@ PX4IO::PX4IO(device::Device *interface) :
_battery_mamphour_total(0),
_battery_last_timestamp(0),
_cb_flighttermination(true),
_in_esc_calibration_mode(false),
_rssi_pwm_chan(0),
_rssi_pwm_max(0),
_rssi_pwm_min(0)
@@ -1167,12 +1169,29 @@ PX4IO::io_set_control_state(unsigned group)
break;
}
if (!changed) {
if (!changed && (!_in_esc_calibration_mode || group != 0)) {
return -1;
} else if (_in_esc_calibration_mode && group == 0) {
/* modify controls to get max pwm (full thrust) on every esc */
memset(&controls, 0, sizeof(controls));
/* set maximum thrust */
controls.control[3] = 1.0f;
}
for (unsigned i = 0; i < _max_controls; i++) {
regs[i] = FLOAT_TO_REG(controls.control[i]);
/* ensure FLOAT_TO_REG does not produce an integer overflow */
float ctrl = controls.control[i];
if (ctrl < -1.0f) {
ctrl = -1.0f;
} else if (ctrl > 1.0f) {
ctrl = 1.0f;
}
regs[i] = FLOAT_TO_REG(ctrl);
}
/* copy values to registers in IO */
@@ -1188,12 +1207,14 @@ PX4IO::io_set_arming_state()
int have_armed = orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
int have_control_mode = orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
_in_esc_calibration_mode = armed.in_esc_calibration_mode;
uint16_t set = 0;
uint16_t clear = 0;
if (have_armed == OK) {
if (armed.armed) {
if (have_armed == OK) {
_in_esc_calibration_mode = armed.in_esc_calibration_mode;
if (armed.armed || _in_esc_calibration_mode) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;