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Merge branch 'actuator_eff_fix' into mavlink_fixes

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This commit is contained in:
Anton Babushkin
2013-11-16 23:39:56 +04:00
parent 6ed268aa28 63d81ba415
commit 6cf09183d6
9 changed files with 42 additions and 200 deletions
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src/modules/mavlink/orb_listener.c
+1 -33
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@@ -73,7 +73,6 @@ struct vehicle_status_s v_status;
struct rc_channels_s rc;
struct rc_input_values rc_raw;
struct actuator_armed_s armed;
struct actuator_controls_effective_s actuators_effective_0;
struct actuator_controls_s actuators_0;
struct vehicle_attitude_s att;
struct airspeed_s airspeed;
@@ -120,7 +119,6 @@ static void l_attitude_setpoint(const struct listener *l);
static void l_actuator_outputs(const struct listener *l);
static void l_actuator_armed(const struct listener *l);
static void l_manual_control_setpoint(const struct listener *l);
static void l_vehicle_attitude_controls_effective(const struct listener *l);
static void l_vehicle_attitude_controls(const struct listener *l);
static void l_debug_key_value(const struct listener *l);
static void l_optical_flow(const struct listener *l);
@@ -148,7 +146,6 @@ static const struct listener listeners[] = {
{l_actuator_armed, &mavlink_subs.armed_sub, 0},
{l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0},
{l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0},
{l_vehicle_attitude_controls_effective, &mavlink_subs.actuators_effective_sub, 0},
{l_debug_key_value, &mavlink_subs.debug_key_value, 0},
{l_optical_flow, &mavlink_subs.optical_flow, 0},
{l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0},
@@ -250,7 +247,7 @@ l_vehicle_attitude(const struct listener *l)
last_sent_vfr = t;
float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
uint16_t heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
float throttle = actuators_effective_0.control_effective[3] * 100.0f;
float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f;
mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz);
}
}
@@ -586,32 +583,6 @@ l_manual_control_setpoint(const struct listener *l)
0);
}
void
l_vehicle_attitude_controls_effective(const struct listener *l)
{
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_effective_sub, &actuators_effective_0);
if (gcs_link) {
/* send, add spaces so that string buffer is at least 10 chars long */
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"eff ctrl0 ",
actuators_effective_0.control_effective[0]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"eff ctrl1 ",
actuators_effective_0.control_effective[1]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"eff ctrl2 ",
actuators_effective_0.control_effective[2]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"eff ctrl3 ",
actuators_effective_0.control_effective[3]);
}
}
void
l_vehicle_attitude_controls(const struct listener *l)
{
@@ -822,9 +793,6 @@ uorb_receive_start(void)
orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */
/* --- ACTUATOR CONTROL VALUE --- */
mavlink_subs.actuators_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
orb_set_interval(mavlink_subs.actuators_effective_sub, 100); /* 10Hz updates */
mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */