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Merge branch 'release_v1.0.0'

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This commit is contained in:
Lorenz Meier
2015-07-04 10:47:18 +02:00
parent 234aeb642b 8f4b9c02f0
commit 95eaebb28d
7 changed files with 53 additions and 23 deletions
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src/modules/commander/commander.cpp
+23 -8
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@@ -1485,7 +1485,22 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
/* position changed */
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
vehicle_global_position_s gpos;
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &gpos);
/* copy to global struct if valid, with hysteresis */
// XXX consolidate this with local position handling and timeouts after release
// but we want a low-risk change now.
if (status.condition_global_position_valid) {
if (gpos.eph < eph_threshold * 2.5f) {
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
}
} else {
if (gpos.eph < eph_threshold) {
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
}
}
}
/* update local position estimate */
@@ -1498,17 +1513,16 @@ int commander_thread_main(int argc, char *argv[])
//update condition_global_position_valid
//Global positions are only published by the estimators if they are valid
if(hrt_absolute_time() - global_position.timestamp > POSITION_TIMEOUT) {
if (hrt_absolute_time() - global_position.timestamp > POSITION_TIMEOUT) {
//We have had no good fix for POSITION_TIMEOUT amount of time
if(status.condition_global_position_valid) {
if (status.condition_global_position_valid) {
set_tune_override(TONE_GPS_WARNING_TUNE);
status_changed = true;
status.condition_global_position_valid = false;
}
}
else if(global_position.timestamp != 0) {
//Got good global position estimate
if(!status.condition_global_position_valid) {
} else if (global_position.timestamp != 0) {
// Got good global position estimate
if (!status.condition_global_position_valid) {
status_changed = true;
status.condition_global_position_valid = true;
}
@@ -2642,7 +2656,8 @@ set_control_mode()
control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position;
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position;
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
break;