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Added manual control abstraction layer, reworked sensors and ardrone_control apps to use it instead of direct RC channels

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This commit is contained in:
Lorenz Meier
2012-08-11 19:45:32 +02:00
parent 4eef4e1864
commit 18c6c620c0
8 changed files with 254 additions and 90 deletions
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apps/commander/commander.c
+12 -7
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@@ -631,8 +631,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
static void *command_handling_loop(void *arg) //handles commands which come from the mavlink app
/**
* Handle commands sent by the ground control station via MAVLink.
*/
static void *command_handling_loop(void *arg)
{
/* Set thread name */
prctl(PR_SET_NAME, "commander cmd handler", getpid());
@@ -645,7 +647,7 @@ static void *command_handling_loop(void *arg) //handles commands which come fro
struct pollfd fds[1] = { { .fd = cmd_sub, .events = POLLIN } };
if (poll(fds, 1, 5000) == 0) {
/* timeout, but this is no problem */
/* timeout, but this is no problem, silently ignore */
} else {
/* got command */
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
@@ -785,7 +787,8 @@ int commander_main(int argc, char *argv[])
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
if (stat_pub < 0) {
printf("[commander] ERROR: orb_advertise failed.\n");
printf("[commander] ERROR: orb_advertise for topic vehicle_status failed.\n");
exit(ERROR);
}
/* make sure we are in preflight state */
@@ -1035,6 +1038,8 @@ int commander_main(int argc, char *argv[])
int16_t rc_yaw_scale = rc.chan[rc.function[YAW]].scale;
int16_t rc_throttle_scale = rc.chan[rc.function[THROTTLE]].scale;
int16_t mode_switch_rc_value = rc.chan[rc.function[OVERRIDE]].scale;
/* Check the value of the rc channel of the mode switch */
mode_switch_rc_value = rc.chan[rc.function[OVERRIDE]].scale;
/* check if left stick is in lower left position --> switch to standby state */
if (rc_yaw_scale < -STICK_ON_OFF_LIMIT && rc_throttle_scale < STICK_THRUST_RANGE*0.2f) { //TODO: remove hardcoded values
@@ -1061,9 +1066,6 @@ int commander_main(int argc, char *argv[])
}
//printf("RC: y:%i/t:%i s:%i chans: %i\n", rc_yaw_scale, rc_throttle_scale, mode_switch_rc_value, rc.chan_count);
/* Check the value of the rc channel of the mode switch */
mode_switch_rc_value = rc.chan[rc.function[OVERRIDE]].scale;
if (mode_switch_rc_value > STICK_ON_OFF_LIMIT) {
update_state_machine_mode_manual(stat_pub, &current_status);
@@ -1074,6 +1076,9 @@ int commander_main(int argc, char *argv[])
update_state_machine_mode_stabilized(stat_pub, &current_status);
}
/* Publish RC signal */
/* handle the case where RC signal was regained */
if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[commander] RECOVERY - RC SIGNAL GAINED!");
current_status.rc_signal_lost = false;