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Merge branch 'master' of https://github.com/PX4/Firmware into fw_control

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This commit is contained in:
Thomas Gubler
2012-11-05 17:56:10 +01:00
parent 904efa8fa8 e7f2c053c2
commit 572084f357
59 changed files with 1269 additions and 2926 deletions
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apps/mavlink/mavlink.c
+7 -8
View File
@@ -589,16 +589,15 @@ int mavlink_thread_main(int argc, char *argv[])
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
} else if (baudrate >= 115200) {
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200);
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
/* 10 Hz / 100 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
/* 5 Hz / 100 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
/* 1 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
} else if (baudrate >= 57600) {
/* 10 Hz / 100 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300);
apps/mavlink/mavlink_parameters.c
+53 -51
View File
@@ -233,66 +233,68 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
} break;
case MAVLINK_MSG_ID_COMMAND_LONG: {
mavlink_command_long_t cmd_mavlink;
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
// case MAVLINK_MSG_ID_COMMAND_LONG: {
// mavlink_command_long_t cmd_mavlink;
// mavlink_msg_command_long_decode(msg, &cmd_mavlink);
uint8_t result = MAV_RESULT_UNSUPPORTED;
// uint8_t result = MAV_RESULT_UNSUPPORTED;
if (cmd_mavlink.target_system == mavlink_system.sysid &&
((cmd_mavlink.target_component == mavlink_system.compid) ||(cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
// if (cmd_mavlink.target_system == mavlink_system.sysid &&
// ((cmd_mavlink.target_component == mavlink_system.compid) ||(cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
/* preflight parameter load / store */
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_STORAGE) {
/* Read all parameters from EEPROM to RAM */
// // XXX move this to LOW PRIO THREAD of commander app
if (((int)(cmd_mavlink.param1)) == 0) {
// /* preflight parameter load / store */
// if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_STORAGE) {
// /* Read all parameters from EEPROM to RAM */
/* read all parameters from EEPROM to RAM */
int read_ret = param_load_default();
if (read_ret == OK) {
//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params");
result = MAV_RESULT_ACCEPTED;
} else if (read_ret == 1) {
mavlink_missionlib_send_gcs_string("[mavlink pm] No stored parameters to load");
result = MAV_RESULT_ACCEPTED;
} else {
if (read_ret < -1) {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params from EEPROM");
} else {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params, no EEPROM found");
}
result = MAV_RESULT_FAILED;
}
// if (((int)(cmd_mavlink.param1)) == 0) {
} else if (((int)(cmd_mavlink.param1)) == 1) {
// /* read all parameters from EEPROM to RAM */
// int read_ret = param_load_default();
// if (read_ret == OK) {
// //printf("[mavlink pm] Loaded EEPROM params in RAM\n");
// mavlink_missionlib_send_gcs_string("[pm] OK loading %s", param_get_default_file());
// result = MAV_RESULT_ACCEPTED;
// } else if (read_ret == 1) {
// mavlink_missionlib_send_gcs_string("[pm] OK no changes %s", param_get_default_file());
// result = MAV_RESULT_ACCEPTED;
// } else {
// if (read_ret < -1) {
// mavlink_missionlib_send_gcs_string("[pm] ERR loading %s", param_get_default_file());
// } else {
// mavlink_missionlib_send_gcs_string("[pm] ERR no file %s", param_get_default_file());
// }
// result = MAV_RESULT_FAILED;
// }
/* write all parameters from RAM to EEPROM */
int write_ret = param_save_default();
if (write_ret == OK) {
mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM");
result = MAV_RESULT_ACCEPTED;
// } else if (((int)(cmd_mavlink.param1)) == 1) {
} else {
if (write_ret < -1) {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params to EEPROM");
} else {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params, no EEPROM found");
}
result = MAV_RESULT_FAILED;
}
// /* write all parameters from RAM to EEPROM */
// int write_ret = param_save_default();
// if (write_ret == OK) {
// mavlink_missionlib_send_gcs_string("[pm] OK saved %s", param_get_default_file());
// result = MAV_RESULT_ACCEPTED;
} else {
//fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported STOR request");
result = MAV_RESULT_UNSUPPORTED;
}
}
}
// } else {
// if (write_ret < -1) {
// mavlink_missionlib_send_gcs_string("[pm] ERR writing %s", param_get_default_file());
// } else {
// mavlink_missionlib_send_gcs_string("[pm] ERR writing %s", param_get_default_file());
// }
// result = MAV_RESULT_FAILED;
// }
/* send back command result */
//mavlink_msg_command_ack_send(chan, cmd.command, result);
} break;
// } else {
// //fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n");
// mavlink_missionlib_send_gcs_string("[pm] refusing unsupp. STOR request");
// result = MAV_RESULT_UNSUPPORTED;
// }
// }
// }
// /* send back command result */
// //mavlink_msg_command_ack_send(chan, cmd.command, result);
// } break;
}
}
apps/mavlink/mavlink_receiver.c
+5 -9
View File
@@ -253,12 +253,12 @@ handle_message(mavlink_message_t *msg)
break;
}
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX;
if (quad_motors_setpoint.thrust[mavlink_system.sysid] == 0) {
if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) {
ml_armed = false;
}
@@ -397,10 +397,6 @@ handle_message(mavlink_message_t *msg)
rc_hil.timestamp = hrt_absolute_time();
rc_hil.chan_count = 4;
rc_hil.chan[0].raw = 1500 + man.x / 2;
rc_hil.chan[1].raw = 1500 + man.y / 2;
rc_hil.chan[2].raw = 1500 + man.r / 2;
rc_hil.chan[3].raw = 1500 + man.z / 2;
rc_hil.chan[0].scaled = man.x / 1000.0f;
rc_hil.chan[1].scaled = man.y / 1000.0f;
apps/mavlink/orb_listener.c
+25 -10
View File
@@ -67,6 +67,7 @@ struct vehicle_global_position_s global_pos;
struct vehicle_local_position_s local_pos;
struct vehicle_status_s v_status;
struct rc_channels_s rc;
struct rc_input_values rc_raw;
struct actuator_armed_s armed;
struct mavlink_subscriptions mavlink_subs;
@@ -99,6 +100,7 @@ static void l_vehicle_attitude(struct listener *l);
static void l_vehicle_gps_position(struct listener *l);
static void l_vehicle_status(struct listener *l);
static void l_rc_channels(struct listener *l);
static void l_input_rc(struct listener *l);
static void l_global_position(struct listener *l);
static void l_local_position(struct listener *l);
static void l_global_position_setpoint(struct listener *l);
@@ -116,6 +118,7 @@ struct listener listeners[] = {
{l_vehicle_gps_position, &mavlink_subs.gps_sub, 0},
{l_vehicle_status, &status_sub, 0},
{l_rc_channels, &rc_sub, 0},
{l_input_rc, &mavlink_subs.input_rc_sub, 0},
{l_global_position, &mavlink_subs.global_pos_sub, 0},
{l_local_position, &mavlink_subs.local_pos_sub, 0},
{l_global_position_setpoint, &mavlink_subs.spg_sub, 0},
@@ -274,21 +277,29 @@ l_rc_channels(struct listener *l)
{
/* copy rc channels into local buffer */
orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
// XXX Add RC channels scaled message here
}
void
l_input_rc(struct listener *l)
{
/* copy rc channels into local buffer */
orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw);
if (gcs_link)
/* Channels are sent in MAVLink main loop at a fixed interval */
mavlink_msg_rc_channels_raw_send(chan,
rc.timestamp / 1000,
rc_raw.timestamp / 1000,
0,
rc.chan[0].raw,
rc.chan[1].raw,
rc.chan[2].raw,
rc.chan[3].raw,
rc.chan[4].raw,
rc.chan[5].raw,
rc.chan[6].raw,
rc.chan[7].raw,
rc.rssi);
(rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX,
(rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX,
(rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX,
(rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX,
(rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX,
(rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX,
(rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX,
(rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX,
255);
}
void
@@ -583,6 +594,10 @@ uorb_receive_start(void)
rc_sub = orb_subscribe(ORB_ID(rc_channels));
orb_set_interval(rc_sub, 100); /* 10Hz updates */
/* --- RC RAW VALUE --- */
mavlink_subs.input_rc_sub = orb_subscribe(ORB_ID(input_rc));
orb_set_interval(mavlink_subs.input_rc_sub, 100);
/* --- GLOBAL POS VALUE --- */
mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
orb_set_interval(mavlink_subs.global_pos_sub, 1000); /* 1Hz active updates */
apps/mavlink/orb_topics.h
+2
View File
@@ -57,6 +57,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_rc_input.h>
struct mavlink_subscriptions {
int sensor_sub;
@@ -75,6 +76,7 @@ struct mavlink_subscriptions {
int spl_sub;
int spg_sub;
int debug_key_value;
int input_rc_sub;
};
extern struct mavlink_subscriptions mavlink_subs;