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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
2016-02-19 16:59:41 +01:00
committed by Julian Oes
parent efe9344fc2
commit 9f3bf8e9f4
71 changed files with 2734 additions and 564 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+8 -4
View File
@@ -81,6 +81,7 @@
#define MIN_VALID_W 0.00001f
#define PUB_INTERVAL 10000 // limit publish rate to 100 Hz
#define EST_BUF_SIZE 250000 / PUB_INTERVAL // buffer size is 0.5s
#define MAX_WAIT_FOR_BARO_SAMPLE 3000000 // wait 3 secs for the baro to respond
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
@@ -410,10 +411,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* wait for initial baro value */
bool wait_baro = true;
TerrainEstimator *terrain_estimator = new TerrainEstimator();
thread_running = true;
hrt_abstime baro_wait_for_sample_time = hrt_absolute_time();
while (wait_baro && !thread_should_exit) {
int ret = px4_poll(&fds_init[0], 1, 1000);
@@ -421,14 +422,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (ret < 0) {
/* poll error */
mavlink_log_info(mavlink_fd, "[inav] poll error on init");
PX4_WARN("INAV poll error");
} else if (ret > 0) {
} else if (hrt_absolute_time() - baro_wait_for_sample_time > MAX_WAIT_FOR_BARO_SAMPLE) {
wait_baro = false;
mavlink_log_info(mavlink_fd, "[inav] timed out waiting for a baro sample");
}
else if (ret > 0) {
if (fds_init[0].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (wait_baro && sensor.baro_timestamp[0] != baro_timestamp) {
baro_timestamp = sensor.baro_timestamp[0];
baro_wait_for_sample_time = hrt_absolute_time();
/* mean calculation over several measurements */
if (baro_init_cnt < baro_init_num) {