fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 18:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add support to new fields in command_ack

Browse Source
This commit is contained in:
José Roberto de Souza
2017-08-19 09:04:52 +02:00
committed by Lorenz Meier
parent d640d1aaf1
commit 4462869432
11 changed files with 77 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/logger/logger.cpp
+12 -8
View File
@@ -49,7 +49,6 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <drivers/drv_hrt.h>
@@ -867,22 +866,22 @@ void Logger::run()
if (command.command == vehicle_command_s::VEHICLE_CMD_LOGGING_START) {
if ((int)(command.param1 + 0.5f) != 0) {
ack_vehicle_command(vehicle_command_ack_pub, command.command,
ack_vehicle_command(vehicle_command_ack_pub, &command,
vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
} else if (can_start_mavlink_log()) {
ack_vehicle_command(vehicle_command_ack_pub, command.command,
ack_vehicle_command(vehicle_command_ack_pub, &command,
vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
start_log_mavlink();
} else {
ack_vehicle_command(vehicle_command_ack_pub, command.command,
ack_vehicle_command(vehicle_command_ack_pub, &command,
vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED);
}
} else if (command.command == vehicle_command_s::VEHICLE_CMD_LOGGING_STOP) {
stop_log_mavlink();
ack_vehicle_command(vehicle_command_ack_pub, command.command,
ack_vehicle_command(vehicle_command_ack_pub, &command,
vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
}
}
@@ -1999,12 +1998,17 @@ int Logger::remove_directory(const char *dir)
return ret;
}
void Logger::ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, uint16_t command, uint32_t result)
void Logger::ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, vehicle_command_s *cmd, uint32_t result)
{
vehicle_command_ack_s vehicle_command_ack = {
.timestamp = hrt_absolute_time(),
.command = command,
.result = (uint8_t)result
.result_param2 = 0,
.command = cmd->command,
.result = (uint8_t)result,
.from_external = 0,
.result_param1 = 0,
.target_system = cmd->source_system,
.target_component = cmd->source_component
};
if (vehicle_command_ack_pub == nullptr) {
src/modules/logger/logger.h
+3 -1
View File
@@ -43,6 +43,8 @@
#include <systemlib/printload.h>
#include <px4_module.h>
#include <uORB/topics/vehicle_command.h>
extern "C" __EXPORT int logger_main(int argc, char *argv[]);
#define TRY_SUBSCRIBE_INTERVAL 1000*1000 // interval in microseconds at which we try to subscribe to a topic
@@ -269,7 +271,7 @@ private:
void add_thermal_calibration_topics();
void add_system_identification_topics();
void ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, uint16_t command, uint32_t result);
void ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, vehicle_command_s *cmd, uint32_t result);
/**
* initialize the output for the process load, so that ~1 second later it will be written to the log