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Fixed HIL enabling, renamed failsafe to better term "lockdown", made sure HIL is actually locking down system. Pending implementation of lockdown in PWM outputs

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This commit is contained in:
Lorenz Meier
2012-09-10 00:11:09 +02:00
parent 6ea402efdc
commit 3140ba658a
4 changed files with 22 additions and 10 deletions
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apps/mavlink/mavlink.c
+11 -4
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@@ -409,6 +409,10 @@ void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, const s
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
if (c_status->flag_hil_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
/* set arming state */
if (actuator->armed) {
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
@@ -1298,10 +1302,10 @@ void handleMessage(mavlink_message_t *msg)
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.alt = hil_state.alt/1000;
hil_global_pos.vx = hil_state.vx;
hil_global_pos.vy = hil_state.vy;
hil_global_pos.vz = hil_state.vz;
hil_global_pos.alt = hil_state.alt / 1000.0f;
hil_global_pos.vx = hil_state.vx / 100.0f;
hil_global_pos.vy = hil_state.vy / 100.0f;
hil_global_pos.vz = hil_state.vz / 100.0f;
/* set timestamp and notify processes (broadcast) */
hil_global_pos.timestamp = hrt_absolute_time();
@@ -1626,6 +1630,9 @@ int mavlink_thread_main(int argc, char *argv[])
/* send heartbeat */
mavlink_msg_heartbeat_send(chan, system_type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state);
/* switch HIL mode if required */
set_hil_on_off(v_status.flag_hil_enabled);
/* send status (values already copied in the section above) */
mavlink_msg_sys_status_send(chan, v_status.onboard_control_sensors_present, v_status.onboard_control_sensors_enabled,
v_status.onboard_control_sensors_health, v_status.load, v_status.voltage_battery * 1000.f, v_status.current_battery * 1000.f,