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Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages

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This commit is contained in:
Thomas Gubler
2014-08-15 09:04:55 +02:00
parent e634c9fa99 e9b0ee7501
commit 874846969c
3 changed files with 20 additions and 15 deletions
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ROMFS/px4fmu_common/init.d/rc.usb
+1 -1
View File
@@ -23,7 +23,7 @@ mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
usleep 100000
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
usleep 100000
mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
usleep 100000
# Exit shell to make it available to MAVLink
src/modules/mavlink/mavlink_main.cpp
+2 -2
View File
@@ -1396,8 +1396,8 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("GLOBAL_POSITION_INT", 3.0f);
configure_stream("LOCAL_POSITION_NED", 3.0f);
configure_stream("RC_CHANNELS_RAW", 1.0f);
configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f);
configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
break;
src/modules/mavlink/mavlink_messages.cpp
+17 -12
View File
@@ -1333,7 +1333,7 @@ protected:
}
for (unsigned i = 0; i < 8; i++) {
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
if (act.output[i] > PWM_LOWEST_MIN / 2) {
if (i < n) {
/* scale PWM out 900..2100 us to 0..1 for rotors */
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
@@ -1344,7 +1344,7 @@ protected:
}
} else {
/* send 0 when disarmed */
/* send 0 when disarmed and for disabled channels */
out[i] = 0.0f;
}
}
@@ -1353,15 +1353,20 @@ protected:
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
for (unsigned i = 0; i < 8; i++) {
if (i != 3) {
/* scale PWM out 900..2100 us to -1..1 for normal channels */
out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
if (act.output[i] > PWM_LOWEST_MIN / 2) {
if (i != 3) {
/* scale PWM out 900..2100 us to -1..1 for normal channels */
out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
} else {
/* scale PWM out 900..2100 us to 0..1 for throttle */
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
}
} else {
/* scale PWM out 900..2100 us to 0..1 for throttle */
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
/* set 0 for disabled channels */
out[i] = 0.0f;
}
}
}
@@ -1637,10 +1642,10 @@ protected:
msg.chan2_raw = (rc.channel_count > (i * port_width) + 1) ? rc.values[(i * port_width) + 1] : UINT16_MAX;
msg.chan3_raw = (rc.channel_count > (i * port_width) + 2) ? rc.values[(i * port_width) + 2] : UINT16_MAX;
msg.chan4_raw = (rc.channel_count > (i * port_width) + 3) ? rc.values[(i * port_width) + 3] : UINT16_MAX;
msg.chan4_raw = (rc.channel_count > (i * port_width) + 4) ? rc.values[(i * port_width) + 4] : UINT16_MAX;
msg.chan4_raw = (rc.channel_count > (i * port_width) + 5) ? rc.values[(i * port_width) + 5] : UINT16_MAX;
msg.chan4_raw = (rc.channel_count > (i * port_width) + 6) ? rc.values[(i * port_width) + 6] : UINT16_MAX;
msg.chan4_raw = (rc.channel_count > (i * port_width) + 7) ? rc.values[(i * port_width) + 7] : UINT16_MAX;
msg.chan5_raw = (rc.channel_count > (i * port_width) + 4) ? rc.values[(i * port_width) + 4] : UINT16_MAX;
msg.chan6_raw = (rc.channel_count > (i * port_width) + 5) ? rc.values[(i * port_width) + 5] : UINT16_MAX;
msg.chan7_raw = (rc.channel_count > (i * port_width) + 6) ? rc.values[(i * port_width) + 6] : UINT16_MAX;
msg.chan8_raw = (rc.channel_count > (i * port_width) + 7) ? rc.values[(i * port_width) + 7] : UINT16_MAX;
msg.rssi = rc.rssi;
_mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS_RAW, &msg);