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Merge branch 'navigator_rewrite' into dataman_state_nav_rewrite

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This commit is contained in:
Anton Babushkin
2014-06-12 16:51:37 +02:00
parent 2951962c21 f4898b94c6
commit 842e7c3df9
57 changed files with 4571 additions and 2453 deletions
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src/modules/mavlink/mavlink_main.cpp
+12 -1
View File
@@ -899,7 +899,10 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
case MAV_CMD_NAV_TAKEOFF:
mission_item->pitch_min = mavlink_mission_item->param1;
break;
case MAV_CMD_DO_JUMP:
mission_item->do_jump_mission_index = mavlink_mission_item->param1;
mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
break;
default:
mission_item->acceptance_radius = mavlink_mission_item->param2;
mission_item->time_inside = mavlink_mission_item->param1;
@@ -915,6 +918,9 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
// mission_item->index = mavlink_mission_item->seq;
mission_item->origin = ORIGIN_MAVLINK;
/* reset DO_JUMP count */
mission_item->do_jump_current_count = 0;
return OK;
}
@@ -932,6 +938,11 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_
mavlink_mission_item->param1 = mission_item->pitch_min;
break;
case NAV_CMD_DO_JUMP:
mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
break;
default:
mavlink_mission_item->param2 = mission_item->acceptance_radius;
mavlink_mission_item->param1 = mission_item->time_inside;
src/modules/mavlink/mavlink_messages.cpp
+55 -34
View File
@@ -120,50 +120,71 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
union px4_custom_mode custom_mode;
custom_mode.data = 0;
if (pos_sp_triplet->nav_state == NAV_STATE_NONE) {
/* use main state when navigator is not active */
if (status->main_state == MAIN_STATE_MANUAL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
switch (status->set_nav_state) {
case NAVIGATION_STATE_MANUAL:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
| (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
break;
} else if (status->main_state == MAIN_STATE_ALTCTL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
} else if (status->main_state == MAIN_STATE_POSCTL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
} else if (status->main_state == MAIN_STATE_AUTO) {
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (status->main_state == MAIN_STATE_ACRO) {
case NAVIGATION_STATE_ACRO:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
}
break;
} else {
/* use navigation state when navigator is active */
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
case NAVIGATION_STATE_ALTCTL:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
break;
if (pos_sp_triplet->nav_state == NAV_STATE_READY) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
case NAVIGATION_STATE_POSCTL:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
break;
} else if (pos_sp_triplet->nav_state == NAV_STATE_LOITER) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
} else if (pos_sp_triplet->nav_state == NAV_STATE_MISSION) {
case NAVIGATION_STATE_AUTO_MISSION:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
break;
} else if (pos_sp_triplet->nav_state == NAV_STATE_RTL) {
case NAVIGATION_STATE_AUTO_LOITER:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
break;
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RTL_RC:
case NAVIGATION_STATE_AUTO_RTL_DL:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
break;
} else if (pos_sp_triplet->nav_state == NAV_STATE_LAND) {
case NAVIGATION_STATE_LAND:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
}
break;
case NAVIGATION_STATE_TERMINATION:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
break;
}
*mavlink_custom_mode = custom_mode.data;
@@ -603,8 +624,8 @@ protected:
gps.lat,
gps.lon,
gps.alt,
cm_uint16_from_m_float(gps.eph_m),
cm_uint16_from_m_float(gps.epv_m),
cm_uint16_from_m_float(gps.eph),
cm_uint16_from_m_float(gps.epv),
gps.vel_m_s * 100.0f,
_wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
gps.satellites_visible);
src/modules/mavlink/mavlink_receiver.cpp
+3 -3
View File
@@ -667,12 +667,12 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
hil_gps.lat = gps.lat;
hil_gps.lon = gps.lon;
hil_gps.alt = gps.alt;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.timestamp_variance = timestamp;
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph;
hil_gps.timestamp_velocity = timestamp;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s