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Initialize all outgoing vehicle_command_ack_s and vehicle_command_s

Browse Source 
This will initialize those structs with zero in all fields not set
and all fields set will only be change once to the final value not
wasting CPU time zeroing it.

This will guarantee that no non-unitialized structs will have
a trash value on from_external causing it to be sent to the
MAVLink channel without need it.
This commit is contained in:
José Roberto de Souza
2017-08-08 21:46:30 +02:00
committed by Lorenz Meier
parent 7c268f4fa1
commit 925efe990d
17 changed files with 267 additions and 261 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/camera_trigger/camera_trigger.cpp
+9 -9
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@@ -484,12 +484,11 @@ void
CameraTrigger::test()
{
struct vehicle_command_s cmd = {};
cmd.timestamp = hrt_absolute_time();
cmd.timestamp = hrt_absolute_time(),
cmd.param5 = 1.0f;
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
cmd.param5 = 1.0;
orb_advert_t pub;
pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(pub);
}
@@ -509,7 +508,7 @@ CameraTrigger::cycle_trampoline(void *arg)
bool updated = false;
orb_check(trig->_command_sub, &updated);
struct vehicle_command_s cmd = {};
struct vehicle_command_s cmd;
unsigned cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
bool need_ack = false;
@@ -716,10 +715,11 @@ CameraTrigger::cycle_trampoline(void *arg)
// Command ACK handling
if (updated && need_ack) {
vehicle_command_ack_s command_ack = {};
command_ack.command = cmd.command;
command_ack.result = cmd_result;
vehicle_command_ack_s command_ack = {
.timestamp = 0,
.command = cmd.command,
.result = (uint8_t)cmd_result
};
if (trig->_cmd_ack_pub == nullptr) {
trig->_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
src/drivers/px4io/px4io.cpp
+19 -19
View File
@@ -792,8 +792,6 @@ PX4IO::init()
} while (true);
/* send command to arm system via command API */
vehicle_command_s cmd;
/* send this to itself */
param_t sys_id_param = param_find("MAV_SYS_ID");
param_t comp_id_param = param_find("MAV_COMP_ID");
@@ -809,23 +807,25 @@ PX4IO::init()
errx(1, "PRM CMPID");
}
cmd.target_system = sys_id;
cmd.target_component = comp_id;
cmd.source_system = sys_id;
cmd.source_component = comp_id;
/* request arming */
cmd.param1 = 1.0f;
cmd.param2 = 0;
cmd.param3 = 0;
cmd.param4 = 0;
cmd.param5 = 0;
cmd.param6 = 0;
cmd.param7 = 0;
cmd.timestamp = hrt_absolute_time();
cmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
/* ask to confirm command */
cmd.confirmation = 1;
/* send command to arm system via command API */
struct vehicle_command_s cmd = {
.timestamp = hrt_absolute_time(),
.param5 = 0.0f,
.param6 = 0.0f,
/* request arming */
.param1 = 1.0f,
.param2 = 0.0f,
.param3 = 0.0f,
.param4 = 0.0f,
.param7 = 0.0f,
.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
.target_system = (uint8_t)sys_id,
.target_component = (uint8_t)comp_id,
.source_system = (uint8_t)sys_id,
.source_component = (uint8_t)comp_id,
/* ask to confirm command */
.confirmation = 1
};
/* send command once */
orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
src/drivers/vmount/input_mavlink.cpp
+5 -4
View File
@@ -285,10 +285,11 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
void InputMavlinkCmdMount::_ack_vehicle_command(uint16_t command)
{
vehicle_command_ack_s vehicle_command_ack;
vehicle_command_ack.timestamp = hrt_absolute_time();
vehicle_command_ack.command = command;
vehicle_command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
vehicle_command_ack_s vehicle_command_ack = {
.timestamp = hrt_absolute_time(),
.command = command,
.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED
};
if (_vehicle_command_ack_pub == nullptr) {
_vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack,
src/drivers/vmount/output_mavlink.cpp
+13 -5
View File
@@ -54,15 +54,25 @@ OutputMavlink::OutputMavlink(const OutputConfig &output_config)
int OutputMavlink::update(const ControlData *control_data)
{
vehicle_command_s vehicle_command;
vehicle_command_s vehicle_command = {
.timestamp = 0,
.param5 = 0.0f,
.param6 = 0.0f,
.param1 = 0.0f,
.param2 = 0.0f,
.param3 = 0.0f,
.param4 = 0.0f,
.param7 = 0.0f,
.command = 0,
.target_system = (uint8_t)_config.mavlink_sys_id,
.target_component = (uint8_t)_config.mavlink_comp_id,
};
if (control_data) {
//got new command
_set_angle_setpoints(control_data);
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE;
vehicle_command.target_system = _config.mavlink_sys_id;
vehicle_command.target_component = _config.mavlink_comp_id;
vehicle_command.timestamp = hrt_absolute_time();
if (control_data->type == ControlData::Type::Neutral) {
@@ -93,8 +103,6 @@ int OutputMavlink::update(const ControlData *control_data)
vehicle_command.timestamp = t;
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL;
vehicle_command.target_system = _config.mavlink_sys_id;
vehicle_command.target_component = _config.mavlink_comp_id;
vehicle_command.param1 = _angle_outputs[0];
vehicle_command.param2 = _angle_outputs[1];
src/modules/commander/calibration_routines.cpp
-1
View File
@@ -836,7 +836,6 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, int cancel_sub)
if (px4_poll(&fds[0], 1, 0) > 0) {
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
orb_copy(ORB_ID(vehicle_command), cancel_sub, &cmd);
src/modules/commander/commander.cpp
+64 -55
View File
@@ -498,21 +498,20 @@ int commander_main(int argc, char *argv[])
if (TRANSITION_DENIED != arm_disarm(true, &mavlink_log_pub, "command line")) {
vehicle_command_s cmd = {};
cmd.target_system = status.system_id;
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
cmd.param1 = NAN; /* minimum pitch */
/* param 2-3 unused */
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
cmd.timestamp = hrt_absolute_time();
struct vehicle_command_s cmd = {
.timestamp = hrt_absolute_time(),
.param5 = NAN,
.param6 = NAN,
/* minimum pitch */
.param1 = NAN,
.param2 = NAN,
.param3 = NAN,
.param4 = NAN,
.param7 = NAN,
.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF,
.target_system = (uint8_t)status.system_id,
.target_component = (uint8_t)status.component_id
};
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
@@ -530,18 +529,20 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "land")) {
vehicle_command_s cmd = {};
cmd.target_system = status.system_id;
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
/* param 2-3 unused */
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
struct vehicle_command_s cmd = {
.timestamp = 0,
.param5 = NAN,
.param6 = NAN,
/* minimum pitch */
.param1 = NAN,
.param2 = NAN,
.param3 = NAN,
.param4 = NAN,
.param7 = NAN,
.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND,
.target_system = (uint8_t)status.system_id,
.target_component = (uint8_t)status.component_id
};
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
@@ -551,20 +552,20 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "transition")) {
vehicle_command_s cmd = {};
cmd.target_system = status.system_id;
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION;
/* transition to the other mode */
cmd.param1 = (status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
/* param 2-3 unused */
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
struct vehicle_command_s cmd = {
.timestamp = 0,
.param5 = NAN,
.param6 = NAN,
/* transition to the other mode */
.param1 = (float)((status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC),
.param2 = NAN,
.param3 = NAN,
.param4 = NAN,
.param7 = NAN,
.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
.target_system = (uint8_t)status.system_id,
.target_component = (uint8_t)status.component_id
};
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
@@ -620,13 +621,20 @@ int commander_main(int argc, char *argv[])
return 1;
}
vehicle_command_s cmd = {};
cmd.target_system = status.system_id;
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION;
/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
cmd.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f; /* lockdown */
struct vehicle_command_s cmd = {
.timestamp = 0,
.param5 = 0.0f,
.param6 = 0.0f,
/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f, /* lockdown */
.param2 = 0.0f,
.param3 = 0.0f,
.param4 = 0.0f,
.param7 = 0.0f,
.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION,
.target_system = (uint8_t)status.system_id,
.target_component = (uint8_t)status.component_id
};
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
@@ -1650,8 +1658,6 @@ int commander_thread_main(int argc, char *argv[])
/* Subscribe to command topic */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
/* Subscribe to parameters changed topic */
int param_changed_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -2986,6 +2992,8 @@ int commander_thread_main(int argc, char *argv[])
orb_check(cmd_sub, &updated);
if (updated) {
struct vehicle_command_s cmd;
/* got command */
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
@@ -4125,9 +4133,11 @@ void answer_command(struct vehicle_command_s &cmd, unsigned result,
}
/* publish ACK */
vehicle_command_ack_s command_ack = {};
command_ack.command = cmd.command;
command_ack.result = result;
vehicle_command_ack_s command_ack = {
.timestamp = 0,
.command = cmd.command,
.result = (uint8_t)result
};
if (command_ack_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command_ack), command_ack_pub, &command_ack);
@@ -4144,8 +4154,6 @@ void *commander_low_prio_loop(void *arg)
/* Subscribe to command topic */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
/* command ack */
orb_advert_t command_ack_pub = nullptr;
@@ -4166,6 +4174,7 @@ void *commander_low_prio_loop(void *arg)
warn("commander: poll error %d, %d", pret, errno);
continue;
} else if (pret != 0) {
struct vehicle_command_s cmd;
/* if we reach here, we have a valid command */
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
src/modules/events/send_event.cpp
+18 -18
View File
@@ -122,7 +122,6 @@ void SendEvent::cycle()
void SendEvent::process_commands()
{
struct vehicle_command_s cmd;
bool updated;
orb_check(_vehicle_command_sub, &updated);
@@ -130,6 +129,8 @@ void SendEvent::process_commands()
return;
}
struct vehicle_command_s cmd;
orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
bool got_temperature_calibration_command = false, accel = false, baro = false, gyro = false;
@@ -167,12 +168,12 @@ void SendEvent::process_commands()
void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
{
struct vehicle_command_ack_s command_ack;
/* publish ACK */
command_ack.command = cmd.command;
command_ack.result = result;
command_ack.timestamp = hrt_absolute_time();
struct vehicle_command_ack_s command_ack = {
.timestamp = hrt_absolute_time(),
.command = cmd.command,
.result = (uint8_t)result,
};
if (_command_ack_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
@@ -256,18 +257,17 @@ int SendEvent::custom_command(int argc, char *argv[])
}
}
vehicle_command_s cmd = {};
cmd.target_system = 0;
cmd.target_component = 0;
cmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION;
cmd.param1 = (gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN;
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = (accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN;
cmd.param6 = NAN;
cmd.param7 = (baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN;
struct vehicle_command_s cmd = {
.timestamp = 0,
.param5 = (float)((accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
.param6 = NAN,
.param1 = (float)((gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
.param2 = NAN,
.param3 = NAN,
.param4 = NAN,
.param7 = (float)((baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION
};
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
src/modules/logger/logger.cpp
+5 -4
View File
@@ -2001,10 +2001,11 @@ int Logger::remove_directory(const char *dir)
void Logger::ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, uint16_t command, uint32_t result)
{
vehicle_command_ack_s vehicle_command_ack;
vehicle_command_ack.timestamp = hrt_absolute_time();
vehicle_command_ack.command = command;
vehicle_command_ack.result = result;
vehicle_command_ack_s vehicle_command_ack = {
.timestamp = hrt_absolute_time(),
.command = command,
.result = (uint8_t)result
};
if (vehicle_command_ack_pub == nullptr) {
vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack,
src/modules/mavlink/mavlink_main.cpp
+1 -1
View File
@@ -2200,7 +2200,7 @@ Mavlink::task_main(int argc, char *argv[])
/* send command ACK */
uint16_t current_command_ack = 0;
struct vehicle_command_ack_s command_ack = {};
struct vehicle_command_ack_s command_ack;
if (ack_sub->update(&ack_time, &command_ack)) {
if (!command_ack.from_external) {
src/modules/mavlink/mavlink_messages.cpp
+13 -13
View File
@@ -1410,19 +1410,19 @@ protected:
mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg);
vehicle_command_s cmd{};
cmd.target_system = mavlink_system.sysid;
cmd.target_component = MAV_COMP_ID_CAMERA;
cmd.command = MAV_CMD_IMAGE_START_CAPTURE;
cmd.confirmation = 0;
cmd.param1 = 0; // all cameras
cmd.param2 = 0; // duration 0 because only taking one picture
cmd.param3 = 1; // only take one
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
struct vehicle_command_s cmd = {
.timestamp = 0,
.param5 = NAN,
.param6 = NAN,
.param1 = 0.0f, // all cameras
.param2 = 0.0f, // duration 0 because only taking one picture
.param3 = 1.0f, // only take one
.param4 = NAN,
.param7 = NAN,
.command = MAV_CMD_IMAGE_START_CAPTURE,
.target_system = mavlink_system.sysid,
.target_component = MAV_COMP_ID_CAMERA
};
MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
src/modules/mavlink/mavlink_receiver.cpp
+74 -111
View File
@@ -439,41 +439,25 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
_mavlink->request_stop_ulog_streaming();
}
struct vehicle_command_s vcmd;
memset(&vcmd, 0, sizeof(vcmd));
vcmd.timestamp = hrt_absolute_time();
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
vcmd.param2 = cmd_mavlink.param2;
vcmd.param3 = cmd_mavlink.param3;
vcmd.param4 = cmd_mavlink.param4;
vcmd.param5 = cmd_mavlink.param5;
vcmd.param6 = cmd_mavlink.param6;
vcmd.param7 = cmd_mavlink.param7;
// XXX do proper translation
vcmd.command = cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = cmd_mavlink.confirmation;
vcmd.from_external = 1;
struct vehicle_command_s vcmd = {
.timestamp = hrt_absolute_time(),
.param5 = cmd_mavlink.param5,
.param6 = cmd_mavlink.param6,
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
.param1 = cmd_mavlink.param1,
.param2 = cmd_mavlink.param2,
.param3 = cmd_mavlink.param3,
.param4 = cmd_mavlink.param4,
.param7 = cmd_mavlink.param7,
// XXX do proper translation
.command = cmd_mavlink.command,
.target_system = cmd_mavlink.target_system,
.target_component = cmd_mavlink.target_component,
.source_system = msg->sysid,
.source_component = msg->compid,
.confirmation = cmd_mavlink.confirmation,
.from_external = 1
};
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
@@ -486,15 +470,11 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
out:
if (send_ack) {
vehicle_command_ack_s command_ack;
command_ack.command = cmd_mavlink.command;
if (ret == PX4_OK) {
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
} else {
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
}
vehicle_command_ack_s command_ack = {
.timestamp = 0,
.command = cmd_mavlink.command,
.result = (ret == PX4_OK ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_FAILED)
};
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -550,40 +530,26 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
send_ack = false;
struct vehicle_command_s vcmd;
memset(&vcmd, 0, sizeof(vcmd));
vcmd.timestamp = hrt_absolute_time();
/* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
vcmd.param2 = cmd_mavlink.param2;
vcmd.param3 = cmd_mavlink.param3;
vcmd.param4 = cmd_mavlink.param4;
/* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */
vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
vcmd.param7 = cmd_mavlink.z;
// XXX do proper translation
vcmd.command = cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.from_external = 1;
struct vehicle_command_s vcmd = {
.timestamp = hrt_absolute_time(),
/* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */
.param5 = ((double)cmd_mavlink.x) / 1e7,
.param6 = ((double)cmd_mavlink.y) / 1e7,
/* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
.param1 = cmd_mavlink.param1,
.param2 = cmd_mavlink.param2,
.param3 = cmd_mavlink.param3,
.param4 = cmd_mavlink.param4,
.param7 = cmd_mavlink.z,
// XXX do proper translation
.command = cmd_mavlink.command,
.target_system = cmd_mavlink.target_system,
.target_component = cmd_mavlink.target_component,
.source_system = msg->sysid,
.source_component = msg->compid,
.confirmation = 0,
.from_external = 1
};
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
@@ -596,15 +562,11 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
out:
if (send_ack) {
vehicle_command_ack_s command_ack;
command_ack.command = cmd_mavlink.command;
if (ret == PX4_OK) {
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
} else {
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
}
vehicle_command_ack_s command_ack = {
.timestamp = 0,
.command = cmd_mavlink.command,
.result = (ret == PX4_OK ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_FAILED)
};
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -624,11 +586,12 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid);
vehicle_command_ack_s command_ack = {};
command_ack.command = ack.command;
command_ack.result = ack.result;
command_ack.timestamp = hrt_absolute_time();
command_ack.from_external = 1;
vehicle_command_ack_s command_ack = {
.timestamp = hrt_absolute_time(),
.command = ack.command,
.result = ack.result,
.from_external = 1
};
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -764,27 +727,27 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
mavlink_set_mode_t new_mode;
mavlink_msg_set_mode_decode(msg, &new_mode);
struct vehicle_command_s vcmd;
memset(&vcmd, 0, sizeof(vcmd));
union px4_custom_mode custom_mode;
custom_mode.data = new_mode.custom_mode;
/* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = new_mode.base_mode;
vcmd.param2 = custom_mode.main_mode;
vcmd.param3 = custom_mode.sub_mode;
vcmd.param4 = 0;
vcmd.param5 = 0;
vcmd.param6 = 0;
vcmd.param7 = 0;
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE;
vcmd.target_system = new_mode.target_system;
vcmd.target_component = MAV_COMP_ID_ALL;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = 1;
vcmd.timestamp = hrt_absolute_time();
vcmd.from_external = 1;
struct vehicle_command_s vcmd = {
.timestamp = hrt_absolute_time(),
.param5 = 0,
.param6 = 0,
/* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
.param1 = (float)new_mode.base_mode,
.param2 = (float)custom_mode.main_mode,
.param3 = (float)custom_mode.sub_mode,
.param4 = 0,
.param7 = 0,
.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE,
.target_system = new_mode.target_system,
.target_component = MAV_COMP_ID_ALL,
.source_system = msg->sysid,
.source_component = msg->compid,
.confirmation = 1,
.from_external = 1
};
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
src/modules/navigator/mission_block.cpp
+17 -7
View File
@@ -476,11 +476,14 @@ MissionBlock::issue_command(const struct mission_item_s *item)
}
} else {
struct vehicle_command_s cmd = {};
mission_item_to_vehicle_command(item, &cmd);
const hrt_abstime now = hrt_absolute_time();
struct vehicle_command_s cmd = {
.timestamp = now
};
mission_item_to_vehicle_command(item, &cmd);
_action_start = now;
cmd.timestamp = now;
_navigator->publish_vehicle_cmd(cmd);
}
@@ -715,10 +718,17 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
!_navigator->get_vstatus()->is_rotary_wing &&
_param_force_vtol.get() == 1) {
struct vehicle_command_s cmd = {};
cmd.command = NAV_CMD_DO_VTOL_TRANSITION;
cmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
cmd.timestamp = hrt_absolute_time();
struct vehicle_command_s cmd = {
.timestamp = hrt_absolute_time(),
.param5 = 0.0f,
.param6 = 0.0f,
.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC,
.param2 = 0.0f,
.param3 = 0.0f,
.param4 = 0.0f,
.param7 = 0.0f,
.command = NAV_CMD_DO_VTOL_TRANSITION
};
_navigator->publish_vehicle_cmd(cmd);
}
src/modules/navigator/navigator_main.cpp
+18 -9
View File
@@ -375,7 +375,7 @@ Navigator::task_main()
orb_check(_vehicle_command_sub, &updated);
if (updated) {
vehicle_command_s cmd = {};
vehicle_command_s cmd;
orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION) {
@@ -479,15 +479,24 @@ Navigator::task_main()
int land_start = _mission.find_offboard_land_start();
if (land_start != -1) {
vehicle_command_s cmd_mission_start = {};
cmd_mission_start.timestamp = hrt_absolute_time();
cmd_mission_start.target_system = get_vstatus()->system_id;
cmd_mission_start.target_component = get_vstatus()->component_id;
cmd_mission_start.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
cmd_mission_start.param1 = land_start;
cmd_mission_start.param2 = 0;
struct vehicle_command_s vcmd = {};
vcmd.timestamp = hrt_absolute_time(),
vcmd.param1 = (float)land_start,
vcmd.param2 = 0.0f,
vcmd.param3 = 0.0f,
vcmd.param4 = 0.0f,
vcmd.param5 = 0.0,
vcmd.param6 = 0.0,
vcmd.param7 = 0.0f,
vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
vcmd.target_system = (uint8_t)get_vstatus()->system_id;
vcmd.target_component = (uint8_t)get_vstatus()->component_id;
vcmd.source_system = (uint8_t)get_vstatus()->system_id;
vcmd.source_component = (uint8_t)get_vstatus()->component_id;
vcmd.confirmation = false;
vcmd.from_external = false;
publish_vehicle_cmd(cmd_mission_start);
publish_vehicle_cmd(vcmd);
} else {
PX4_WARN("planned landing not available");
src/modules/sdlog2/sdlog2.c
+4
View File
@@ -385,6 +385,8 @@ int sdlog2_main(int argc, char *argv[])
if (!strncmp(argv[1], "on", 2)) {
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
cmd.param1 = -1;
cmd.param2 = -1;
@@ -396,6 +398,8 @@ int sdlog2_main(int argc, char *argv[])
if (!strcmp(argv[1], "off")) {
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
cmd.param1 = -1;
cmd.param2 = -1;
src/modules/uavcan/uavcan_servers.cpp
+5 -3
View File
@@ -534,9 +534,11 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
}
// Acknowledge the received command
struct vehicle_command_ack_s ack = {};
ack.command = cmd.command;
ack.result = cmd_ack_result;
struct vehicle_command_ack_s ack = {
.timestamp = 0,
.command = cmd.command,
.result = cmd_ack_result
};
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
src/platforms/posix/tests/muorb/muorb_test_example.h
+1 -1
View File
@@ -57,6 +57,6 @@ private:
int DefaultTest();
int PingPongTest();
struct esc_status_s m_esc_status;
struct vehicle_command_s m_vc;
struct vehicle_command_s m_vc = {};
};
src/platforms/qurt/tests/muorb/muorb_test_example.h
+1 -1
View File
@@ -54,6 +54,6 @@ private:
int uSleepTest();
struct esc_status_s m_esc_status;
struct vehicle_command_s m_vc;
struct vehicle_command_s m_vc = {};
};