fly316/PX4-Autopilot
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Merge branch 'master' into mavlink-ftp

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This commit is contained in:
px4dev
2014-06-07 10:54:17 -07:00
parent 6351fd1e2c 3e66d7e0c9
commit 5d7ea2bdab
271 changed files with 9868 additions and 12186 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+14 -6
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@@ -198,7 +198,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
}
}
/* If we've received a valid message, mark the flag indicating so.
This is used in the '-w' command-line flag. */
_mavlink->set_has_received_messages(true);
@@ -224,6 +224,12 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
_mavlink->_task_should_exit = true;
} else {
if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
warnx("ignoring CMD spoofed with same SYS/COMP ID");
return;
}
struct vehicle_command_s vcmd;
memset(&vcmd, 0, sizeof(vcmd));
@@ -439,10 +445,10 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
memset(&manual, 0, sizeof(manual));
manual.timestamp = hrt_absolute_time();
manual.pitch = man.x / 1000.0f;
manual.roll = man.y / 1000.0f;
manual.yaw = man.r / 1000.0f;
manual.throttle = man.z / 1000.0f;
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
if (_manual_pub < 0) {
_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
@@ -933,6 +939,8 @@ void *MavlinkReceiver::start_helper(void *context)
rcv->receive_thread(NULL);
delete rcv;
return nullptr;
}
pthread_t
@@ -950,7 +958,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 3000);
pthread_attr_setstacksize(&receiveloop_attr, 2900);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);