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

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Fixed Conflicts:
	apps/multirotor_att_control/multirotor_att_control_main.c

rc loss failsafe throttle tested
This commit is contained in:
Julian Oes
2012-11-15 11:55:55 -08:00
parent b7c6a11e67 3016ae72a3
commit 33e750602a
26 changed files with 560 additions and 323 deletions
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apps/commander/commander.c
+4 -3
View File
@@ -63,7 +63,6 @@
#include <string.h>
#include <drivers/drv_led.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include "state_machine_helper.h"
#include "systemlib/systemlib.h"
@@ -269,6 +268,7 @@ void tune_confirm(void) {
void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
{
/* set to mag calibration mode */
status->flag_preflight_mag_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
@@ -325,7 +325,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
uint64_t axis_deadline = hrt_absolute_time();
uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
const char axislabels[3] = { 'X', 'Z', 'Y'};
const char axislabels[3] = { 'X', 'Y', 'Z'};
int axis_index = -1;
float *x = (float*)malloc(sizeof(float) * calibration_maxcount);
@@ -471,6 +471,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
int save_ret = param_save_default();
if(save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
mavlink_log_info(mavlink_fd, "[cmd] FAILED storing calibration");
}
printf("[mag cal]\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
@@ -1132,7 +1133,7 @@ int commander_main(int argc, char *argv[])
daemon_task = task_spawn("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 50,
4096,
4000,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
apps/commander/state_machine_helper.c
+18
View File
@@ -213,6 +213,24 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
/* publish the new state */
current_status->counter++;
current_status->timestamp = hrt_absolute_time();
/* assemble state vector based on flag values */
if (current_status->flag_control_rates_enabled) {
current_status->onboard_control_sensors_present |= 0x400;
} else {
current_status->onboard_control_sensors_present &= ~0x400;
}
current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
current_status->onboard_control_sensors_enabled |= (current_status->flag_control_rates_enabled) ? 0x400 : 0;
current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
printf("[commander] new state: %s\n", system_state_txt[current_status->state_machine]);
}