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Merge remote-tracking branch 'upstream/master' into linux

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

Conflicts:
	src/drivers/rgbled/rgbled.cpp
	src/modules/commander/PreflightCheck.cpp
	src/modules/commander/airspeed_calibration.cpp
	src/modules/commander/calibration_routines.cpp
	src/modules/commander/gyro_calibration.cpp
	src/modules/commander/mag_calibration.cpp
	src/modules/mc_att_control/mc_att_control_main.cpp
This commit is contained in:
Mark Charlebois
2015-04-28 11:48:26 -07:00
parent c832f4c55c 2a46e0f0b6
commit 190814bc97
47 changed files with 935 additions and 656 deletions
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src/modules/commander/PreflightCheck.cpp
+6 -6
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@@ -94,7 +94,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional)
if (devid != calibration_devid) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: MAG #%u UNCALIBRATED (NO ID)", instance);
"PREFLIGHT FAIL: MAG #%u UNCALIBRATED", instance);
success = false;
goto out;
}
@@ -138,7 +138,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
if (devid != calibration_devid) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED (NO ID)", instance);
"PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED", instance);
success = false;
goto out;
}
@@ -162,7 +162,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL RANGE, hold still");
mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL RANGE, hold still on arming");
/* this is frickin' fatal */
success = false;
goto out;
@@ -205,7 +205,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional)
if (devid != calibration_devid) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: GYRO #%u UNCALIBRATED (NO ID)", instance);
"PREFLIGHT FAIL: GYRO #%u UNCALIBRATED", instance);
success = false;
goto out;
}
@@ -255,13 +255,13 @@ static bool airspeedCheck(int mavlink_fd, bool optional)
if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) ||
(hrt_elapsed_time(&airspeed.timestamp) > (500 * 1000))) {
mavlink_log_critical(mavlink_fd, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
success = false;
goto out;
}
if (fabsf(airspeed.indicated_airspeed_m_s) > 6.0f) {
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
mavlink_and_console_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
// XXX do not make this fatal yet
}