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Fixed correct RC loss detection, AR.Drone is now shutting down motors after 1 s of RC loss. Added debug topic.

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This commit is contained in:
Lorenz Meier
2012-09-05 11:37:17 +02:00
parent 86a2a4fb9f
commit 84e11a0cac
23 changed files with 213 additions and 79 deletions
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apps/mavlink/mavlink.c
+38 -7
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@@ -75,6 +75,7 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/debug_key_value.h>
#include <systemlib/param/param.h>
#include "waypoints.h"
@@ -166,6 +167,7 @@ static struct mavlink_subscriptions {
int spa_sub;
int spl_sub;
int spg_sub;
int debug_key_value;
bool initialized;
} mavlink_subs = {
.sensor_sub = 0,
@@ -183,6 +185,7 @@ static struct mavlink_subscriptions {
.spa_sub = 0,
.spl_sub = 0,
.spg_sub = 0,
.debug_key_value = 0,
.initialized = false
};
@@ -543,6 +546,10 @@ static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int ma
case MAVLINK_MSG_ID_MANUAL_CONTROL:
/* manual_control_setpoint triggers this message */
if (subs->man_control_sp_sub) orb_set_interval(subs->man_control_sp_sub, min_interval);
break;
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
if (subs->debug_key_value) orb_set_interval(subs->debug_key_value, min_interval);
break;
default:
/* not found */
ret = ERROR;
@@ -588,6 +595,7 @@ static void *uorb_receiveloop(void *arg)
struct actuator_outputs_s act_outputs;
struct manual_control_setpoint_s man_control;
struct actuator_controls_s actuators;
struct debug_key_value_s debug;
} buf;
/* --- SENSORS RAW VALUE --- */
@@ -709,6 +717,13 @@ static void *uorb_receiveloop(void *arg)
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- DEBUG VALUE OUTPUT --- */
/* subscribe to ORB for debug value outputs */
subs->debug_key_value = orb_subscribe(ORB_ID(debug_key_value));
fds[fdsc_count].fd = subs->debug_key_value;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* all subscriptions initialized, return success */
subs->initialized = true;
@@ -1060,10 +1075,17 @@ static void *uorb_receiveloop(void *arg)
/* --- ACTUATOR CONTROL --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs->actuators_sub, &buf.actuators);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl0", buf.actuators.control[0]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl1", buf.actuators.control[1]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl2", buf.actuators.control[2]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl3", buf.actuators.control[3]);
/* send, add spaces so that string buffer is at least 10 chars long */
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl0 ", buf.actuators.control[0]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl1 ", buf.actuators.control[1]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl2 ", buf.actuators.control[2]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl3 ", buf.actuators.control[3]);
}
/* --- DEBUG KEY/VALUE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(debug_key_value), subs->debug_key_value, &buf.debug);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, buf.debug.key, buf.debug.value);
}
}
}
@@ -1501,6 +1523,7 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 2);
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 5);
/* 5 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200);
} else if (baudrate >= 460800) {
@@ -1508,15 +1531,19 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
/* 100 Hz / 10 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 20);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
} else if (baudrate >= 115200) {
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
/* 10 Hz / 100 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 100);
/* 1 Hz */
@@ -1527,6 +1554,8 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 100);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
/* 0.2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 5000);
@@ -1535,6 +1564,8 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 1000);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000);
/* 1 Hz / 1000 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000);
/* 0.5 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000);
/* 0.1 Hz */