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Merge remote-tracking branch 'px4/new_state_machine_drton' into fmuv2_bringup_new_state_machine_drton

Browse Source 
Conflicts:
	src/drivers/blinkm/blinkm.cpp
	src/drivers/px4io/px4io.cpp
	src/modules/commander/state_machine_helper.c
	src/modules/px4iofirmware/protocol.h
	src/modules/px4iofirmware/registers.c
	src/modules/systemlib/systemlib.h
	src/systemcmds/reboot/reboot.c
This commit is contained in:
Julian Oes
2013-08-15 14:04:46 +02:00
parent 50cf1c01b7 561ec495b7
commit 56575eb068
86 changed files with 5851 additions and 3938 deletions
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src/drivers/px4fmu/fmu.cpp
+8 -7
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@@ -70,6 +70,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <systemlib/err.h>
#ifdef HRT_PPM_CHANNEL
@@ -108,7 +109,7 @@ private:
unsigned _current_update_rate;
int _task;
int _t_actuators;
int _t_armed;
int _t_actuator_armed;
orb_advert_t _t_outputs;
orb_advert_t _t_actuators_effective;
unsigned _num_outputs;
@@ -195,7 +196,7 @@ PX4FMU::PX4FMU() :
_current_update_rate(0),
_task(-1),
_t_actuators(-1),
_t_armed(-1),
_t_actuator_armed(-1),
_t_outputs(0),
_t_actuators_effective(0),
_num_outputs(0),
@@ -424,8 +425,8 @@ PX4FMU::task_main()
/* force a reset of the update rate */
_current_update_rate = 0;
_t_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_armed, 200); /* 5Hz update rate */
_t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */
/* advertise the mixed control outputs */
actuator_outputs_s outputs;
@@ -444,7 +445,7 @@ PX4FMU::task_main()
pollfd fds[2];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
fds[1].fd = _t_armed;
fds[1].fd = _t_actuator_armed;
fds[1].events = POLLIN;
#ifdef HRT_PPM_CHANNEL
@@ -567,7 +568,7 @@ PX4FMU::task_main()
actuator_armed_s aa;
/* get new value */
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &aa);
/* update PWM servo armed status if armed and not locked down */
bool set_armed = aa.armed && !aa.lockdown;
@@ -603,7 +604,7 @@ PX4FMU::task_main()
::close(_t_actuators);
::close(_t_actuators_effective);
::close(_t_armed);
::close(_t_actuator_armed);
/* make sure servos are off */
up_pwm_servo_deinit();