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Rebase changes on upstream master

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This brings in many of the changes from the PX4 fork on ATLFLight.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-01-18 23:16:31 -08:00
committed by Julian Oes
parent efe9344fc2
commit 9f3bf8e9f4
71 changed files with 2734 additions and 564 deletions
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src/modules/commander/commander.cpp
+16 -3
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@@ -687,7 +687,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
}
if (hil_ret != TRANSITION_DENIED && arming_ret != TRANSITION_DENIED && main_ret != TRANSITION_DENIED) {
if ((hil_ret != TRANSITION_DENIED) && (arming_ret != TRANSITION_DENIED) && (main_ret != TRANSITION_DENIED)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
@@ -769,7 +769,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
@@ -1431,12 +1431,15 @@ int commander_thread_main(int argc, char *argv[])
pthread_attr_init(&commander_low_prio_attr);
pthread_attr_setstacksize(&commander_low_prio_attr, 2880);
#ifndef __PX4_QURT
struct sched_param param;
(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
/* low priority */
param.sched_priority = SCHED_PRIORITY_DEFAULT - 50;
(void)pthread_attr_setschedparam(&commander_low_prio_attr, &param);
#endif
pthread_create(&commander_low_prio_thread, &commander_low_prio_attr, commander_low_prio_loop, NULL);
pthread_attr_destroy(&commander_low_prio_attr);
@@ -1607,6 +1610,11 @@ int commander_thread_main(int argc, char *argv[])
_usb_telemetry_active = true;
}
/* set (and don't reset) telemetry via USB as active once a MAVLink connection is up */
if (telemetry.type == telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_USB) {
_usb_telemetry_active = true;
}
if (telemetry.heartbeat_time > 0) {
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
}
@@ -2188,8 +2196,13 @@ int commander_thread_main(int argc, char *argv[])
}
/* RC input check */
#ifndef __PX4_QURT
if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
(hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f))) {
#else
// HACK: remove old data check due to timestamp issue in QURT
if (!status.rc_input_blocked && sp_man.timestamp != 0) {
#endif
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;
@@ -2969,7 +2982,7 @@ set_control_mode()
/* set vehicle_control_mode according to set_navigation_state */
control_mode.flag_armed = armed.armed;
control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
//control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;
switch (status.nav_state) {