fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-28 19:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed problem causing a failure to obtain the shared memory lock on the AppsProc.

Browse Source
This commit is contained in:
jwilson
2016-02-17 20:03:15 -08:00
committed by Julian Oes
parent 4adfea7fa9
commit 75fad09263
6 changed files with 25 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
-42
View File
@@ -2196,10 +2196,6 @@ int commander_thread_main(int argc, char *argv[])
if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
(hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f))) {
#else
// TODO-JYW: TESTING-TESTING
warnx("status.rc_input_blocked: %d, sp_man.timestamp: %d", status.rc_input_blocked, sp_man.timestamp);
// TODO-JYW: TESTING-TESTING
// HACK: remove old data check due to timestamp issue in QURT
if (!status.rc_input_blocked && sp_man.timestamp != 0) {
#endif
@@ -2218,14 +2214,6 @@ int commander_thread_main(int argc, char *argv[])
status.rc_signal_lost = false;
// TODO-JYW: TESTING-TESTING
warnx("lower left stick: status.is_rotary_wing: %d, status.rc_input_mode: %d, status.arming_state: %d",
status.is_rotary_wing, status.rc_input_mode, status.arming_state, status.main_state, status.condition_landed, (double)sp_man.r, (double)sp_man.z);
warnx("lower left stick: status.is_rotary_wing: %d, status.rc_input_mode: %d, status.arming_state: %d, status.main_state: %d, status.condition_landed: %d, sp_man.r: %f, sp_man.z: %f",
status.is_rotary_wing, status.rc_input_mode, status.arming_state, status.main_state, status.condition_landed, (double)sp_man.r, (double)sp_man.z);
// TODO-JYW: TESTING-TESTING
/* check if left stick is in lower left position and we are in MANUAL, Rattitude, or AUTO_READY mode or (ASSIST mode and landed) -> disarm
* do it only for rotary wings */
if (status.is_rotary_wing && status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF &&
@@ -2258,13 +2246,6 @@ int commander_thread_main(int argc, char *argv[])
stick_off_counter = 0;
}
// TODO-JYW: TESTING-TESTING
warnx("lower right position: ON_OFF_LIMIT: %f, stick_off_counter: %d, stick_on_counter: %d",
(double)STICK_ON_OFF_LIMIT, stick_off_counter, stick_on_counter);
warnx("lower right position: sp_man.r: %.6f, sp_man.z: %.6f, status.rc_input_mode: %d",
(double)sp_man.r, (double)sp_man.z, status.rc_input_mode);
// TODO-JYW: TESTING-TESTING
/* check if left stick is in lower right position and we're in MANUAL mode -> arm */
if (sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f && status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF ) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
@@ -2276,32 +2257,22 @@ int commander_thread_main(int argc, char *argv[])
if ((status.main_state != vehicle_status_s::MAIN_STATE_MANUAL) &&
(status.main_state != vehicle_status_s::MAIN_STATE_STAB)) {
// TOOD-JYW: TESTING-TESTING:
warnx("NOT ARMING: Switch to MANUAL mode first.");
print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
} else if (!status.condition_home_position_valid &&
geofence_action == geofence_result_s::GF_ACTION_RTL) {
// TOOD-JYW: TESTING-TESTING:
warnx("NOT ARMING: Geofence RTL requires valid home");
print_reject_arm("NOT ARMING: Geofence RTL requires valid home");
} else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
// TODO-JYW: TESTING-TESTING
warnx("attempting arming_state_transition");
arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
} else {
// TOOD-JYW: TESTING-TESTING:
warnx("NOT ARMING: Configuration error");
print_reject_arm("NOT ARMING: Configuration error");
}
}
// TOOD-JYW: TESTING-TESTING:
warnx("on counter set to zero");
stick_on_counter = 0;
} else {
@@ -2309,14 +2280,9 @@ int commander_thread_main(int argc, char *argv[])
}
} else {
// TOOD-JYW: TESTING-TESTING:
warnx("on counter set to zero");
stick_on_counter = 0;
}
// TOOD-JYW: TESTING-TESTING:
warnx("arming_ret: %d, arming_state_changed: %d, status.main_state: %d, status.arming_state: %d", arming_ret, arming_state_changed, status.main_state, status.arming_state);
if (arming_ret == TRANSITION_CHANGED) {
if (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
mavlink_log_info(mavlink_fd, "ARMED by RC");
@@ -2612,8 +2578,6 @@ int commander_thread_main(int argc, char *argv[])
*/
armed.prearmed = (hrt_elapsed_time(&commander_boot_timestamp) > 5 * 1000 * 1000);
}
// TODO-JYW: TESTING-TESTING:
warnx("publishing arming status, armed.armed: %d", armed.armed);
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
}
@@ -3200,12 +3164,6 @@ set_control_mode()
default:
break;
}
// TODO-JYW: TESTING-TESTING:
warnx("status.nav_state: %d", status.nav_state);
warnx("status.is_rotary_wing: %d", status.is_rotary_wing);
warnx("control_mode.flag_control_rates_enabled: %d", control_mode.flag_control_rates_enabled);
warnx("control_mode.flag_control_attitude_enabled: %d", control_mode.flag_control_attitude_enabled);
}
bool