fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 20:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into new_state_machine

Browse Source 
compiling again
Conflicts:
	src/modules/fixedwing_att_control/fixedwing_att_control_att.c
	src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
	src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
	src/modules/mavlink/orb_listener.c
	src/modules/multirotor_att_control/multirotor_attitude_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/systemlib/pid/pid.c
	src/modules/systemlib/pid/pid.h
	src/modules/uORB/objects_common.cpp
This commit is contained in:
Julian Oes
2013-07-08 10:31:32 +02:00
parent 76346bfe19 cf2dbdf9a1
commit 88389ea255
2165 changed files with 10906 additions and 485356 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink.c
+6 -9
View File
@@ -144,14 +144,6 @@ set_hil_on_off(bool hil_enabled)
/* Enable HIL */
if (hil_enabled && !mavlink_hil_enabled) {
/* Advertise topics */
pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
/* sensore level hil */
pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
mavlink_hil_enabled = true;
/* ramp up some HIL-related subscriptions */
@@ -708,6 +700,8 @@ int mavlink_thread_main(int argc, char *argv[])
lowspeed_counter++;
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
/* sleep quarter the time */
usleep(25000);
@@ -719,10 +713,13 @@ int mavlink_thread_main(int argc, char *argv[])
/* send parameters at 20 Hz (if queued for sending) */
mavlink_pm_queued_send();
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
/* sleep quarter the time */
usleep(25000);
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
if (baudrate > 57600) {
mavlink_pm_queued_send();
}
@@ -781,7 +778,7 @@ int mavlink_main(int argc, char *argv[])
errx(0, "mavlink already running\n");
thread_should_exit = false;
mavlink_task = task_spawn("mavlink",
mavlink_task = task_spawn_cmd("mavlink",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,