fly316/PX4-Autopilot
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Merge branch 'beta' into offboard2

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This commit is contained in:
Anton Babushkin
2014-02-14 13:41:03 +01:00
parent 66f270dd7e 51b7c27363
commit 66f00d056f
80 changed files with 923 additions and 1295 deletions
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src/modules/commander/commander.cpp
+9 -5
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@@ -153,6 +153,7 @@ static uint64_t last_print_mode_reject_time = 0;
static bool on_usb_power = false;
static float takeoff_alt = 5.0f;
static int parachute_enabled = 0;
static struct vehicle_status_s status;
static struct actuator_armed_s armed;
@@ -568,7 +569,9 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
/* Flight termination */
case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
if (armed->armed && cmd->param3 > 0.5) { //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
//XXX: to enable the parachute, a param needs to be set
//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
if (armed->armed && cmd->param3 > 0.5 && parachute_enabled) {
transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
result = VEHICLE_CMD_RESULT_ACCEPTED;
ret = true;
@@ -620,6 +623,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_system_id = param_find("MAV_SYS_ID");
param_t _param_component_id = param_find("MAV_COMP_ID");
param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT");
param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN");
/* welcome user */
warnx("starting");
@@ -866,10 +870,10 @@ int commander_thread_main(int argc, char *argv[])
/* re-check RC calibration */
rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
/* navigation parameters */
param_get(_param_takeoff_alt, &takeoff_alt);
}
/* navigation parameters */
param_get(_param_takeoff_alt, &takeoff_alt);
param_get(_param_enable_parachute, &parachute_enabled);
}
orb_check(sp_man_sub, &updated);
@@ -1321,7 +1325,7 @@ int commander_thread_main(int argc, char *argv[])
// TODO remove this hack
/* flight termination in manual mode if assisted switch is on easy position */
if (!status.is_rotary_wing && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
tune_positive();
}