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Merge branch 'beta' into offboard2

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This commit is contained in:
Anton Babushkin
2014-02-01 11:02:17 +01:00
parent 1821af2c80 8660ea914a
commit 5828f49c60
50 changed files with 1452 additions and 1066 deletions
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src/modules/commander/commander.cpp
+44 -5
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@@ -154,6 +154,11 @@ static bool on_usb_power = false;
static float takeoff_alt = 5.0f;
static struct vehicle_status_s status;
static struct actuator_armed_s armed;
static struct safety_s safety;
static struct vehicle_control_mode_s control_mode;
/* tasks waiting for low prio thread */
typedef enum {
LOW_PRIO_TASK_NONE = 0,
@@ -212,6 +217,11 @@ void print_reject_arm(const char *msg);
void print_status();
int arm();
int disarm();
transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
/**
* Loop that runs at a lower rate and priority for calibration and parameter tasks.
*/
@@ -277,6 +287,16 @@ int commander_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "arm")) {
arm();
exit(0);
}
if (!strcmp(argv[1], "disarm")) {
disarm();
exit(0);
}
usage("unrecognized command");
exit(1);
}
@@ -343,6 +363,30 @@ void print_status()
static orb_advert_t status_pub;
int arm()
{
int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
return 0;
} else {
return 1;
}
}
int disarm()
{
int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
return 0;
} else {
return 1;
}
}
bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed)
{
/* result of the command */
@@ -561,11 +605,6 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
}
static struct vehicle_status_s status;
static struct vehicle_control_mode_s control_mode;
static struct actuator_armed_s armed;
static struct safety_s safety;
int commander_thread_main(int argc, char *argv[])
{
/* not yet initialized */