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Merge branch 'master_release' of github.com:PX4/Firmware into master_release

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This commit is contained in:
Lorenz Meier
2015-06-30 15:43:53 +02:00
parent 50ba1f7365 ac6abacac9
commit 4cf9976ad8
4 changed files with 52 additions and 48 deletions
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src/modules/commander/state_machine_helper.cpp
+34 -30
View File
@@ -368,7 +368,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
/**
* Transition from one hil state to another
*/
transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
transition_result_t ret = TRANSITION_DENIED;
@@ -451,43 +451,47 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
}
closedir(d);
#else
const char *devname;
unsigned int handle = 0;
for(;;) {
devname = px4_get_device_names(&handle);
if (devname == NULL)
break;
/* skip mavlink */
if (!strcmp("/dev/mavlink", devname)) {
continue;
}
int sensfd = px4_open(devname, 0);
if (sensfd < 0) {
warn("failed opening device %s", devname);
continue;
}
int block_ret = px4_ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
px4_close(sensfd);
printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
}
#endif
ret = TRANSITION_CHANGED;
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
} else {
/* failed opening dir */
mavlink_log_info(mavlink_fd, "FAILED LISTING DEVICE ROOT DIRECTORY");
ret = TRANSITION_DENIED;
}
#else
const char *devname;
unsigned int handle = 0;
for(;;) {
devname = px4_get_device_names(&handle);
if (devname == NULL)
break;
/* skip mavlink */
if (!strcmp("/dev/mavlink", devname)) {
continue;
}
int sensfd = px4_open(devname, 0);
if (sensfd < 0) {
warn("failed opening device %s", devname);
continue;
}
int block_ret = px4_ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
px4_close(sensfd);
printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
}
ret = TRANSITION_CHANGED;
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
#endif
} else {
mavlink_log_critical(mavlink_fd, "Not switching to HIL when armed");
ret = TRANSITION_DENIED;
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
View File
@@ -1009,7 +1009,7 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
rc.values[6] = man.chan7_raw;
rc.values[7] = man.chan8_raw;
if (_rc_pub <= 0) {
if (_rc_pub == nullptr) {
_rc_pub = orb_advertise(ORB_ID(input_rc), &rc);
} else {
src/modules/vtol_att_control/vtol_att_control_main.cpp
+16 -16
View File
@@ -75,7 +75,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_actuators_0_pub(nullptr),
_actuators_1_pub(nullptr),
_vtol_vehicle_status_pub(nullptr),
_v_rates_sp_pub(nullptr),
_v_rates_sp_pub(nullptr)
{
memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
@@ -540,23 +540,23 @@ void VtolAttitudeControl::task_main()
/* Only publish if the proper mode(s) are enabled */
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled ||
_v_control_mode.flag_control_manual_enabled)
{
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
}
if (_actuators_1_pub > 0) {
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
} else {
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
}
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled ||
_v_control_mode.flag_control_manual_enabled)
{
if (_actuators_0_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
}
if (_actuators_1_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
} else {
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
}
}
// publish the attitude rates setpoint
if(_v_rates_sp_pub != nullptr) {
orb_publish(ORB_ID(vehicle_rates_setpoint),_v_rates_sp_pub,&_v_rates_sp);