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

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

Conflicts:
	src/modules/commander/gyro_calibration.cpp
	src/modules/mavlink/mavlink_ftp.cpp
This commit is contained in:
Mark Charlebois
2015-05-16 15:04:38 -07:00
parent 6a1c28fbc1 26954ece2c
commit 36f5d47ed9
45 changed files with 714 additions and 400 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+32 -26
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@@ -131,6 +131,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_hil_local_alt0(0.0f),
_hil_local_proj_ref{},
_offboard_control_mode{},
_att_sp{},
_rates_sp{},
_time_offset_avg_alpha(0.6),
_time_offset(0)
@@ -780,16 +781,16 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
* throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and
* body rates to keep the controllers running
*/
bool ignore_bodyrate = (bool)(set_attitude_target.type_mask & 0x7);
bool ignore_attitude = (bool)(set_attitude_target.type_mask & (1 << 7));
bool ignore_bodyrate_msg = (bool)(set_attitude_target.type_mask & 0x7);
bool ignore_attitude_msg = (bool)(set_attitude_target.type_mask & (1 << 7));
if (ignore_bodyrate && ignore_attitude && !_offboard_control_mode.ignore_thrust) {
if (ignore_bodyrate_msg && ignore_attitude_msg && !_offboard_control_mode.ignore_thrust) {
/* Message want's us to ignore everything except thrust: only ignore if previously ignored */
_offboard_control_mode.ignore_bodyrate = ignore_bodyrate && _offboard_control_mode.ignore_bodyrate;
_offboard_control_mode.ignore_attitude = ignore_attitude && _offboard_control_mode.ignore_attitude;
_offboard_control_mode.ignore_bodyrate = ignore_bodyrate_msg && _offboard_control_mode.ignore_bodyrate;
_offboard_control_mode.ignore_attitude = ignore_attitude_msg && _offboard_control_mode.ignore_attitude;
} else {
_offboard_control_mode.ignore_bodyrate = ignore_bodyrate;
_offboard_control_mode.ignore_attitude = ignore_attitude;
_offboard_control_mode.ignore_bodyrate = ignore_bodyrate_msg;
_offboard_control_mode.ignore_attitude = ignore_attitude_msg;
}
_offboard_control_mode.ignore_position = true;
@@ -818,22 +819,25 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
/* Publish attitude setpoint if attitude and thrust ignore bits are not set */
if (!(_offboard_control_mode.ignore_attitude)) {
struct vehicle_attitude_setpoint_s att_sp = {};
att_sp.timestamp = hrt_absolute_time();
mavlink_quaternion_to_euler(set_attitude_target.q,
&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body);
att_sp.R_valid = true;
if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
att_sp.thrust = set_attitude_target.thrust;
_att_sp.timestamp = hrt_absolute_time();
if (!ignore_attitude_msg) { // only copy att sp if message contained new data
mavlink_quaternion_to_euler(set_attitude_target.q,
&_att_sp.roll_body, &_att_sp.pitch_body, &_att_sp.yaw_body);
mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])_att_sp.R_body);
_att_sp.R_valid = true;
_att_sp.yaw_sp_move_rate = 0.0;
memcpy(_att_sp.q_d, set_attitude_target.q, sizeof(_att_sp.q_d));
_att_sp.q_d_valid = true;
}
att_sp.yaw_sp_move_rate = 0.0;
memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
att_sp.q_d_valid = true;
if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
_att_sp.thrust = set_attitude_target.thrust;
}
if (_att_sp_pub < 0) {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
} else {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp);
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
}
}
@@ -841,9 +845,11 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
///XXX add support for ignoring individual axes
if (!(_offboard_control_mode.ignore_bodyrate)) {
_rates_sp.timestamp = hrt_absolute_time();
_rates_sp.roll = set_attitude_target.body_roll_rate;
_rates_sp.pitch = set_attitude_target.body_pitch_rate;
_rates_sp.yaw = set_attitude_target.body_yaw_rate;
if (!ignore_bodyrate_msg) { // only copy att rates sp if message contained new data
_rates_sp.roll = set_attitude_target.body_roll_rate;
_rates_sp.pitch = set_attitude_target.body_pitch_rate;
_rates_sp.yaw = set_attitude_target.body_yaw_rate;
}
if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
_rates_sp.thrust = set_attitude_target.thrust;
}
@@ -1356,8 +1362,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
memset(&hil_global_pos, 0, sizeof(hil_global_pos));
hil_global_pos.timestamp = timestamp;
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.lat = hil_state.lat / ((double)1e7);
hil_global_pos.lon = hil_state.lon / ((double)1e7);
hil_global_pos.alt = hil_state.alt / 1000.0f;
hil_global_pos.vel_n = hil_state.vx / 100.0f;
hil_global_pos.vel_e = hil_state.vy / 100.0f;
@@ -1581,7 +1587,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
param.sched_priority = SCHED_PRIORITY_MAX - 80;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 1800);
pthread_attr_setstacksize(&receiveloop_attr, 2100);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);