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fpvaspassion
2015-08-18 23:17:07 +02:00
committed by Lorenz Meier
parent e6ffa16125
commit 60be6a577f
6 changed files with 33 additions and 79 deletions
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src/modules/mavlink/mavlink_mission.cpp
+1 -55
View File
@@ -52,10 +52,6 @@
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <fcntl.h>
#include <drivers/drv_pwm_output.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
@@ -74,8 +70,6 @@ bool MavlinkMissionManager::_transfer_in_progress = false;
(_msg.target_component == MAV_COMP_ID_ALL)))
int chan_id;
MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink),
_state(MAVLINK_WPM_STATE_IDLE),
_time_last_recv(0),
@@ -94,8 +88,6 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(m
_mission_result_sub(-1),
_offboard_mission_pub(nullptr),
_slow_rate_limiter(_interval / 10.0f),
_actuators{},
_actuator_pub(nullptr),
_verbose(false)
{
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
@@ -123,34 +115,6 @@ MavlinkMissionManager::get_size()
}
}
/**
* Set the actuators
*/
int
MavlinkMissionManager::actuators_publish()
{
_actuators.timestamp = hrt_absolute_time();
// lazily publish _actuators only once available
if (_actuator_pub == nullptr) {
_mavlink->send_statustext_critical("Actuators published 1!");
return orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &_actuators);
} else {
_actuator_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators);
if (_actuator_pub == nullptr) {
_mavlink->send_statustext_critical("Actuators published 2!");
return OK;
} else {
return -1;
}
}
}
void
MavlinkMissionManager::init_offboard_mission()
{
@@ -833,29 +797,11 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
break;
case MAV_CMD_DO_SET_SERVO:
mission_item->actuator_num = mavlink_mission_item->param1;
mission_item->actuator_value = mavlink_mission_item->param2;
mission_item->autocontinue = true;
mission_item->time_inside=0.0f;
chan_id = mavlink_mission_item->param1;
_actuators.control[0] = mavlink_mission_item->param2;
_actuators.control[1] = mavlink_mission_item->param2;
_actuators.control[2] = mavlink_mission_item->param2;
_actuators.control[3] = mavlink_mission_item->param2;
_actuators.control[4] = mavlink_mission_item->param2;
_actuators.control[5] = mavlink_mission_item->param2;
_actuators.control[6] = mavlink_mission_item->param2;
_actuators.control[7] = mavlink_mission_item->param2;
actuators_publish();
/* for test purpose of function during mission upload */
//up_pwm_servo_arm(true);
//up_pwm_servo_set(mission_item->actuator_num-1, mission_item->actuator_value);
break;
default:
src/modules/mavlink/mavlink_mission.h
-16
View File
@@ -48,13 +48,6 @@
#include "mavlink_rate_limiter.h"
#include "mavlink_stream.h"
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
enum MAVLINK_WPM_STATES {
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
@@ -137,9 +130,6 @@ private:
MavlinkRateLimiter _slow_rate_limiter;
actuator_controls_s _actuators;
orb_advert_t _actuator_pub;
bool _verbose;
/* do not allow top copying this class */
@@ -205,12 +195,6 @@ private:
*/
int format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
/**
* publish actuators state
*/
int actuators_publish();
protected:
explicit MavlinkMissionManager(Mavlink *mavlink);