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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
Trent Lukaczyk
2015-02-05 20:19:04 -08:00
parent 6798aee13a 7e6198b3dd
commit 531eaa2314
215 changed files with 10958 additions and 2458 deletions
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src/modules/mavlink/mavlink_main.cpp
+1 -1
View File
@@ -1431,7 +1431,7 @@ Mavlink::task_main(int argc, char *argv[])
if (status_sub->update(&status_time, &status)) {
/* switch HIL mode if required */
set_hil_enabled(status.hil_state == HIL_STATE_ON);
set_hil_enabled(status.hil_state == vehicle_status_s::HIL_STATE_ON);
}
/* check for requested subscriptions */
src/modules/mavlink/mavlink_messages.cpp
+28 -28
View File
@@ -103,13 +103,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
*mavlink_custom_mode = 0;
/* HIL */
if (status->hil_state == HIL_STATE_ON) {
if (status->hil_state == vehicle_status_s::HIL_STATE_ON) {
*mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
/* arming state */
if (status->arming_state == ARMING_STATE_ARMED
|| status->arming_state == ARMING_STATE_ARMED_ERROR) {
if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) {
*mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
@@ -121,31 +121,31 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
switch (status->nav_state) {
case NAVIGATION_STATE_MANUAL:
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
| (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
break;
case NAVIGATION_STATE_ACRO:
case vehicle_status_s::NAVIGATION_STATE_ACRO:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
break;
case NAVIGATION_STATE_ALTCTL:
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
break;
case NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
break;
case NAVIGATION_STATE_AUTO_MISSION:
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -153,7 +153,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
break;
case NAVIGATION_STATE_AUTO_LOITER:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -161,9 +161,9 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
break;
case NAVIGATION_STATE_AUTO_RTL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
/* fallthrough */
case NAVIGATION_STATE_AUTO_RCRECOVER:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -171,11 +171,11 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
break;
case NAVIGATION_STATE_LAND:
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
case vehicle_status_s::NAVIGATION_STATE_LAND:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
/* fallthrough */
case NAVIGATION_STATE_DESCEND:
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -183,7 +183,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
break;
case NAVIGATION_STATE_AUTO_RTGS:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -191,19 +191,19 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS;
break;
case NAVIGATION_STATE_TERMINATION:
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
break;
case NAVIGATION_STATE_OFFBOARD:
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
break;
case NAVIGATION_STATE_MAX:
case vehicle_status_s::NAVIGATION_STATE_MAX:
/* this is an unused case, ignore */
break;
@@ -212,21 +212,21 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
*mavlink_custom_mode = custom_mode.data;
/* set system state */
if (status->arming_state == ARMING_STATE_INIT
|| status->arming_state == ARMING_STATE_IN_AIR_RESTORE
|| status->arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review
if (status->arming_state == vehicle_status_s::ARMING_STATE_INIT
|| status->arming_state == vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE
|| status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) { // TODO review
*mavlink_state = MAV_STATE_UNINIT;
} else if (status->arming_state == ARMING_STATE_ARMED) {
} else if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
*mavlink_state = MAV_STATE_ACTIVE;
} else if (status->arming_state == ARMING_STATE_ARMED_ERROR) {
} else if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) {
*mavlink_state = MAV_STATE_CRITICAL;
} else if (status->arming_state == ARMING_STATE_STANDBY) {
} else if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
*mavlink_state = MAV_STATE_STANDBY;
} else if (status->arming_state == ARMING_STATE_REBOOT) {
} else if (status->arming_state == vehicle_status_s::ARMING_STATE_REBOOT) {
*mavlink_state = MAV_STATE_POWEROFF;
} else {
@@ -1431,7 +1431,7 @@ protected:
updated |= _pos_sp_triplet_sub->update(&_pos_sp_triplet_time, &pos_sp_triplet);
updated |= _status_sub->update(&_status_time, &status);
if (updated && (status.arming_state == ARMING_STATE_ARMED)) {
if (updated && (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state;
uint8_t mavlink_base_mode;
@@ -2198,7 +2198,7 @@ protected:
msg.param2 = 0;
msg.param3 = 0;
/* set camera capture ON/OFF depending on arming state */
msg.param4 = (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) ? 1 : 0;
msg.param4 = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED || status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) ? 1 : 0;
msg.param5 = 0;
msg.param6 = 0;
msg.param7 = 0;
src/modules/mavlink/mavlink_receiver.cpp
+4 -4
View File
@@ -616,7 +616,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
pos_sp_triplet.previous.valid = false;
pos_sp_triplet.next.valid = false;
pos_sp_triplet.current.valid = true;
pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; //XXX support others
/* set the local pos values if the setpoint type is 'local pos' and none
* of the local pos fields is set to 'ignore' */
@@ -798,7 +798,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
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, att_sp.R_body);
mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body);
att_sp.R_valid = true;
att_sp.thrust = set_attitude_target.thrust;
memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
@@ -985,10 +985,10 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
} else if (tsync.tc1 > 0) {
int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ;
int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ;
int64_t dt = _time_offset - offset_ns;
if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew
if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew
_time_offset = offset_ns;
warnx("[timesync] Hard setting offset.");
} else {