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more fixes for the mavlink_fd in fw pos ctrl, this now enables mavlink output for landing

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This commit is contained in:
Thomas Gubler
2013-11-26 15:49:59 +01:00
parent b66730b5a9
commit 254777d38a
1 changed files with 8 additions and 11 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+8 -11
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@@ -95,8 +95,6 @@
*/
extern "C" __EXPORT int fw_pos_control_l1_main(int argc, char *argv[]);
static int mavlink_fd;
class FixedwingPositionControl
{
public:
@@ -118,6 +116,7 @@ public:
int start();
private:
int _mavlink_fd;
bool _task_should_exit; /**< if true, sensor task should exit */
int _control_task; /**< task handle for sensor task */
@@ -377,11 +376,9 @@ FixedwingPositionControl::FixedwingPositionControl() :
land_stayonground(false),
land_motor_lim(false),
land_onslope(false),
flare_curve_alt_last(0.0f)
flare_curve_alt_last(0.0f),
_mavlink_fd(-1)
{
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
/* safely initialize structs */
vehicle_attitude_s _att = {0};
vehicle_attitude_setpoint_s _att_sp = {0};
@@ -884,7 +881,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
if (!land_motor_lim) {
land_motor_lim = true;
mavlink_log_info(mavlink_fd, "[POSCTRL] Landing, limit throttle");
mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, limit throttle");
}
}
@@ -905,7 +902,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
flare_angle_rad, math::radians(15.0f));
if (!land_noreturn_vertical) {
mavlink_log_info(mavlink_fd, "[POSCTRL] Landing, flare");
mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, flare");
land_noreturn_vertical = true;
}
//warnx("Landing: flare, _global_pos.alt %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance);
@@ -924,7 +921,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
if (!land_onslope) {
mavlink_log_info(mavlink_fd, "[POSCTRL] Landing, on slope");
mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, on slope");
land_onslope = true;
}
@@ -1174,9 +1171,9 @@ FixedwingPositionControl::task_main()
if (fds[1].revents & POLLIN) {
/* XXX Hack to get mavlink output going */
if (mavlink_fd < 0) {
if (_mavlink_fd < 0) {
/* try to open the mavlink log device every once in a while */
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
static uint64_t last_run = 0;