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Merged release_v1.0.0 into master

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This commit is contained in:
Lorenz Meier
2015-05-27 15:28:41 -07:00
parent a2bb8cd766 d7547d388f
commit 4565f57468
102 changed files with 977 additions and 2266 deletions
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src/modules/uavcan/actuators/esc.cpp
+3 -3
View File
@@ -85,7 +85,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
{
if ((outputs == nullptr) ||
(num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) ||
(num_outputs > CONNECTED_ESC_MAX)) {
(num_outputs > esc_status_s::CONNECTED_ESC_MAX)) {
perf_count(_perfcnt_invalid_input);
return;
}
@@ -159,7 +159,7 @@ void UavcanEscController::arm_single_esc(int num, bool arm)
void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
{
if (msg.esc_index < CONNECTED_ESC_MAX) {
if (msg.esc_index < esc_status_s::CONNECTED_ESC_MAX) {
_esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1);
_esc_status.timestamp = msg.getMonotonicTimestamp().toUSec();
@@ -179,7 +179,7 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
{
_esc_status.counter += 1;
_esc_status.esc_connectiontype = ESC_CONNECTION_TYPE_CAN;
_esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN;
if (_esc_status_pub != nullptr) {
(void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status);
src/modules/uavcan/uavcan_main.cpp
+3 -3
View File
@@ -398,8 +398,8 @@ int UavcanNode::run()
(_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) &&
orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &_actuator_direct) == OK &&
!_test_in_progress) {
if (_actuator_direct.nvalues > NUM_ACTUATOR_OUTPUTS) {
_actuator_direct.nvalues = NUM_ACTUATOR_OUTPUTS;
if (_actuator_direct.nvalues > actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
_actuator_direct.nvalues = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
}
memcpy(&_outputs.output[0], &_actuator_direct.values[0],
_actuator_direct.nvalues*sizeof(float));
@@ -410,7 +410,7 @@ int UavcanNode::run()
// can we mix?
if (_test_in_progress) {
memset(&_outputs, 0, sizeof(_outputs));
if (_test_motor.motor_number < NUM_ACTUATOR_OUTPUTS) {
if (_test_motor.motor_number < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
_outputs.output[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f;
_outputs.noutputs = _test_motor.motor_number+1;
}