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Merge branch 'beta' into offboard2

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This commit is contained in:
Anton Babushkin
2014-02-17 17:08:47 +04:00
parent e8bee868e2 7d80f05b4d
commit 4deefb6902
29 changed files with 1147 additions and 250 deletions
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src/modules/commander/commander.cpp
+3 -3
View File
@@ -432,7 +432,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
arming_res = TRANSITION_NOT_CHANGED;
if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
if ((safety->safety_switch_available && !safety->safety_off) && status->hil_state == HIL_STATE_OFF) {
if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
arming_res = TRANSITION_DENIED;
@@ -522,7 +522,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) {
if (safety->safety_switch_available && !safety->safety_off) {
if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
arming_res = TRANSITION_DENIED;
@@ -1162,7 +1162,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.arming_state == ARMING_STATE_STANDBY &&
sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
if (safety.safety_switch_available && !safety.safety_off) {
if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
} else if (status.main_state != MAIN_STATE_MANUAL) {
src/modules/commander/commander_params.c
+32
View File
@@ -48,7 +48,39 @@
PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
/**
* Empty cell voltage.
*
* Defines the voltage where a single cell of the battery is considered empty.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
/**
* Full cell voltage.
*
* Defines the voltage where a single cell of the battery is considered full.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f);
/**
* Number of cells.
*
* Defines the number of cells the attached battery consists of.
*
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
/**
* Battery capacity.
*
* Defines the capacity of the attached battery.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);