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

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This commit is contained in:
Thomas Gubler
2014-04-21 11:18:16 +02:00
parent 0d403820e0 f8232fa269
commit 938d6b1917
16 changed files with 182 additions and 82 deletions
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src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+1 -1
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@@ -959,7 +959,7 @@ FixedwingEstimator::task_main()
}
// Publish results
if (_initialized) {
if (_initialized && (check == OK)) {
src/modules/mavlink/mavlink_main.cpp
+3 -2
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@@ -832,10 +832,10 @@ void Mavlink::publish_mission()
{
/* Initialize mission publication if necessary */
if (_mission_pub < 0) {
_mission_pub = orb_advertise(ORB_ID(mission), &mission);
_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
} else {
orb_publish(ORB_ID(mission), _mission_pub, &mission);
orb_publish(ORB_ID(offboard_mission), _mission_pub, &mission);
}
}
@@ -1953,6 +1953,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult);
configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f * rate_mult);
configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f * rate_mult);
configure_stream("DISTANCE_SENSOR", 0.5f);
break;
case MAVLINK_MODE_CAMERA:
src/modules/mavlink/mavlink_messages.cpp
+47
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@@ -72,6 +72,7 @@
#include <uORB/topics/navigation_capabilities.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_range_finder.h>
#include "mavlink_messages.h"
@@ -1312,6 +1313,51 @@ protected:
}
};
class MavlinkStreamDistanceSensor : public MavlinkStream
{
public:
const char *get_name()
{
return "DISTANCE_SENSOR";
}
MavlinkStream *new_instance()
{
return new MavlinkStreamDistanceSensor();
}
private:
MavlinkOrbSubscription *range_sub;
struct range_finder_report *range;
protected:
void subscribe(Mavlink *mavlink)
{
range_sub = mavlink->add_orb_subscription(ORB_ID(sensor_range_finder));
range = (struct range_finder_report *)range_sub->get_data();
}
void send(const hrt_abstime t)
{
(void)range_sub->update(t);
uint8_t type;
switch (range->type) {
case RANGE_FINDER_TYPE_LASER:
type = MAV_DISTANCE_SENSOR_LASER;
break;
}
uint8_t id = 0;
uint8_t orientation = 0;
uint8_t covariance = 20;
mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
}
};
MavlinkStream *streams_list[] = {
new MavlinkStreamHeartbeat(),
new MavlinkStreamSysStatus(),
@@ -1338,6 +1384,7 @@ MavlinkStream *streams_list[] = {
new MavlinkStreamAttitudeControls(),
new MavlinkStreamNamedValueFloat(),
new MavlinkStreamCameraCapture(),
new MavlinkStreamDistanceSensor(),
new MavlinkStreamViconPositionEstimate(),
nullptr
};
src/modules/mavlink/module.mk
+1 -1
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@@ -47,4 +47,4 @@ SRCS += mavlink_main.cpp \
INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
MAXOPTIMIZATION = -Os
MAXOPTIMIZATION = -Os
src/modules/navigator/navigator_main.cpp
+3 -3
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@@ -510,7 +510,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
{
struct mission_s offboard_mission;
if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) {
if (orb_copy(ORB_ID(offboard_mission), _offboard_mission_sub, &offboard_mission) == OK) {
/* Check mission feasibility, for now do not handle the return value,
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
@@ -543,7 +543,7 @@ Navigator::onboard_mission_update()
{
struct mission_s onboard_mission;
if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) {
if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) {
_mission.set_onboard_mission_count(onboard_mission.count);
_mission.set_current_onboard_mission_index(onboard_mission.current_index);
@@ -611,7 +611,7 @@ Navigator::task_main()
* do subscriptions
*/
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
src/modules/sdlog2/sdlog2.c
+3 -15
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@@ -908,9 +908,6 @@ int sdlog2_thread_main(int argc, char *argv[])
hrt_abstime barometer_timestamp = 0;
hrt_abstime differential_pressure_timestamp = 0;
/* track changes in distance status */
bool dist_bottom_present = false;
/* enable logging on start if needed */
if (log_on_start) {
/* check GPS topic to get GPS time */
@@ -1099,6 +1096,8 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.x = buf.local_pos.x;
log_msg.body.log_LPOS.y = buf.local_pos.y;
log_msg.body.log_LPOS.z = buf.local_pos.z;
log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom;
log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate;
log_msg.body.log_LPOS.vx = buf.local_pos.vx;
log_msg.body.log_LPOS.vy = buf.local_pos.vy;
log_msg.body.log_LPOS.vz = buf.local_pos.vz;
@@ -1108,19 +1107,8 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
log_msg.body.log_LPOS.landed = buf.local_pos.landed;
log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
LOGBUFFER_WRITE_AND_COUNT(LPOS);
if (buf.local_pos.dist_bottom_valid) {
dist_bottom_present = true;
}
if (dist_bottom_present) {
log_msg.msg_type = LOG_DIST_MSG;
log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate;
log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
LOGBUFFER_WRITE_AND_COUNT(DIST);
}
}
/* --- LOCAL POSITION SETPOINT --- */
src/modules/sdlog2/sdlog2_messages.h
+4 -1
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@@ -101,6 +101,8 @@ struct log_LPOS_s {
float x;
float y;
float z;
float ground_dist;
float ground_dist_rate;
float vx;
float vy;
float vz;
@@ -110,6 +112,7 @@ struct log_LPOS_s {
uint8_t xy_flags;
uint8_t z_flags;
uint8_t landed;
uint8_t ground_dist_flags;
};
/* --- LPSP - LOCAL POSITION SETPOINT --- */
@@ -343,7 +346,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
src/modules/uORB/objects_common.cpp
+1 -1
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@@ -127,7 +127,7 @@ ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
#include "topics/mission.h"
ORB_DEFINE(mission, struct mission_s);
ORB_DEFINE(offboard_mission, struct mission_s);
ORB_DEFINE(onboard_mission, struct mission_s);
#include "topics/mission_result.h"
src/modules/uORB/topics/mission.h
+1 -1
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@@ -105,7 +105,7 @@ struct mission_s
*/
/* register this as object request broker structure */
ORB_DECLARE(mission);
ORB_DECLARE(offboard_mission);
ORB_DECLARE(onboard_mission);
#endif