fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 05:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into real_life_timeouts

Browse Source
This commit is contained in:
Lorenz Meier
2014-07-29 17:31:09 +02:00
parent 8e12d79ef4 49c877c3e6
commit 3257cd9151
11 changed files with 271 additions and 170 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+4
View File
@@ -3028,6 +3028,10 @@ void AttPosEKF::GetFilterState(struct ekf_status_report *err)
current_ekf_state.states[i] = states[i];
}
current_ekf_state.n_states = n_states;
current_ekf_state.onGround = onGround;
current_ekf_state.staticMode = staticMode;
current_ekf_state.useCompass = useCompass;
current_ekf_state.useAirspeed = useAirspeed;
memcpy(err, &current_ekf_state, sizeof(*err));
src/modules/ekf_att_pos_estimator/estimator_utilities.h
+4
View File
@@ -68,6 +68,10 @@ struct ekf_status_report {
bool posTimeout;
bool hgtTimeout;
bool imuTimeout;
bool onGround;
bool staticMode;
bool useCompass;
bool useAirspeed;
uint32_t velFailTime;
uint32_t posFailTime;
uint32_t hgtFailTime;
src/modules/mavlink/mavlink_main.cpp
+6 -1
View File
@@ -483,7 +483,12 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
Mavlink *inst;
LL_FOREACH(_mavlink_instances, inst) {
if (inst != self) {
inst->pass_message(msg);
/* if not in normal mode, we are an onboard link
* onboard links should only pass on messages from the same system ID */
if(!(self->_mode != MAVLINK_MODE_NORMAL && msg->sysid != mavlink_system.sysid)) {
inst->pass_message(msg);
}
}
}
}
src/modules/mavlink/mavlink_receiver.cpp
+2 -1
View File
@@ -241,7 +241,8 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
} else {
if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
warnx("ignoring CMD spoofed with same SYS/COMP ID");
warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID",
mavlink_system.sysid, mavlink_system.compid);
return;
}
src/modules/navigator/mission.cpp
+21 -15
View File
@@ -314,30 +314,36 @@ Mission::set_mission_items()
/* set previous position setpoint to current */
set_previous_pos_setpoint();
/* get home distance state */
bool home_dist_ok = check_dist_1wp();
/* the home dist check provides user feedback, so we initialize it to this */
bool user_feedback_done = !home_dist_ok;
/* try setting onboard mission item */
if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_ONBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running");
mavlink_log_critical(_navigator->get_mavlink_fd(), "onboard mission now running");
}
_mission_type = MISSION_TYPE_ONBOARD;
/* try setting offboard mission item */
} else if (check_dist_1wp() && read_mission_item(false, true, &_mission_item)) {
} else if (home_dist_ok && read_mission_item(false, true, &_mission_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_OFFBOARD) {
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running");
mavlink_log_critical(_navigator->get_mavlink_fd(), "offboard mission now running");
}
_mission_type = MISSION_TYPE_OFFBOARD;
} else {
/* no mission available, switch to loiter */
/* no mission available or mission finished, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: mission finished");
} else {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: no mission available");
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
} else if (!user_feedback_done) {
/* only tell users that we got no mission if there has not been any
* better, more specific feedback yet
*/
mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available");
}
_mission_type = MISSION_TYPE_NONE;
@@ -397,7 +403,7 @@ Mission::set_mission_items()
takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get());
}
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
@@ -483,7 +489,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"#audio: ERROR waypoint could not be read");
"ERROR waypoint could not be read");
return false;
}
@@ -502,7 +508,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
/* not supposed to happen unless the datamanager can't access the
* dataman */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"#audio: ERROR DO JUMP waypoint could not be written");
"ERROR DO JUMP waypoint could not be written");
return false;
}
}
@@ -511,8 +517,8 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
*mission_index_ptr = mission_item_tmp.do_jump_mission_index;
} else {
mavlink_log_info(_navigator->get_mavlink_fd(),
"#audio: DO JUMP repetitions completed");
mavlink_log_critical(_navigator->get_mavlink_fd(),
"DO JUMP repetitions completed");
/* no more DO_JUMPS, therefore just try to continue with next mission item */
(*mission_index_ptr)++;
}
@@ -526,7 +532,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
/* we have given up, we don't want to cycle forever */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"#audio: ERROR DO JUMP is cycling, giving up");
"ERROR DO JUMP is cycling, giving up");
return false;
}