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Merge branch 'master' of https://github.com/PX4/Firmware into fw_control

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This commit is contained in:
Thomas Gubler
2012-10-31 21:07:01 +01:00
parent ee1e98babb 8bfceef89c
commit 904efa8fa8
35 changed files with 342 additions and 1666 deletions
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apps/mavlink/mavlink_parameters.c
+2 -60
View File
@@ -172,64 +172,6 @@ int mavlink_pm_send_param(param_t param)
return ret;
}
static const char *mavlink_parameter_file = "/eeprom/parameters";
/**
* @return 0 on success, -1 if device open failed, -2 if writing parameters failed
*/
static int mavlink_pm_save_eeprom()
{
/* delete the file in case it exists */
unlink(mavlink_parameter_file);
/* create the file */
int fd = open(mavlink_parameter_file, O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0) {
warn("opening '%s' for writing failed", mavlink_parameter_file);
return -1;
}
int result = param_export(fd, false);
close(fd);
if (result != 0) {
unlink(mavlink_parameter_file);
warn("error exporting parameters to '%s'", mavlink_parameter_file);
return -2;
}
return 0;
}
/**
* @return 0 on success, 1 if all params have not yet been stored, -1 if device open failed, -2 if writing parameters failed
*/
static int
mavlink_pm_load_eeprom()
{
int fd = open(mavlink_parameter_file, O_RDONLY);
if (fd < 0) {
/* no parameter file is OK, otherwise this is an error */
if (errno != ENOENT) {
warn("open '%s' for reading failed", mavlink_parameter_file);
return -1;
}
return 1;
}
int result = param_load(fd);
close(fd);
if (result != 0) {
warn("error reading parameters from '%s'", mavlink_parameter_file);
return -2;
}
return 0;
}
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg)
{
switch (msg->msgid) {
@@ -307,7 +249,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
if (((int)(cmd_mavlink.param1)) == 0) {
/* read all parameters from EEPROM to RAM */
int read_ret = mavlink_pm_load_eeprom();
int read_ret = param_load_default();
if (read_ret == OK) {
//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params");
@@ -327,7 +269,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
} else if (((int)(cmd_mavlink.param1)) == 1) {
/* write all parameters from RAM to EEPROM */
int write_ret = mavlink_pm_save_eeprom();
int write_ret = param_save_default();
if (write_ret == OK) {
mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM");
result = MAV_RESULT_ACCEPTED;
apps/mavlink/mavlink_receiver.c
+4 -5
View File
@@ -253,14 +253,13 @@ handle_message(mavlink_message_t *msg)
break;
}
offboard_control_sp.p1 = quad_motors_setpoint.roll[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){
if (quad_motors_setpoint.thrust[mavlink_system.sysid] == 0) {
ml_armed = false;
}
offboard_control_sp.armed = ml_armed;