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delete control_state and cleanup vehicle_attitude (#7882)

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This commit is contained in:
Daniel Agar
2017-09-21 16:24:53 -04:00
committed by GitHub
parent 5bea264a5f
commit b4755297ec
42 changed files with 776 additions and 1061 deletions
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src/drivers/frsky_telemetry/frsky_data.c
+19 -12
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@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
* Author: Stefan Rado <px4@sradonia.net>
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -34,6 +33,7 @@
/**
* @file frsky_data.c
*
* @author Stefan Rado <px4@sradonia.net>
*
* FrSky telemetry implementation.
@@ -160,6 +160,7 @@ void frsky_update_topics()
{
struct frsky_subscription_data_s *subs = subscription_data;
bool updated;
/* get a local copy of the current sensor values */
orb_check(subs->sensor_sub, &updated);
@@ -167,12 +168,7 @@ void frsky_update_topics()
orb_copy(ORB_ID(sensor_combined), subs->sensor_sub, &subs->sensor_combined);
}
orb_check(subs->vehicle_gps_position_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_gps_position), subs->vehicle_gps_position_sub, &subs->vehicle_gps_position);
}
/* get a local copy of the vehicle status */
orb_check(subs->vehicle_status_sub, &updated);
if (updated) {
@@ -194,6 +190,13 @@ void frsky_update_topics()
if (updated) {
orb_copy(ORB_ID(vehicle_global_position), subs->vehicle_global_position_sub, &subs->global_pos);
}
/* get a local copy of the raw GPS data */
orb_check(subs->vehicle_gps_position_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_gps_position), subs->vehicle_gps_position_sub, &subs->vehicle_gps_position);
}
}
/**
@@ -245,15 +248,13 @@ void frsky_send_frame2(int uart)
{
struct vehicle_global_position_s *global_pos = &subscription_data->global_pos;
struct battery_status_s *battery_status = &subscription_data->battery_status;
struct vehicle_gps_position_s *gps = &subscription_data->vehicle_gps_position;
/* send formatted frame */
float course = 0, lat = 0, lon = 0, speed = 0, alt = 0;
char lat_ns = 0, lon_ew = 0;
int sec = 0;
if (global_pos->timestamp != 0 && hrt_absolute_time() < global_pos->timestamp + 20000) {
time_t time_gps = global_pos->time_utc_usec / 1000000ULL;
struct tm *tm_gps = gmtime(&time_gps);
course = global_pos->yaw / M_PI_F * 180.0f;
if (course < 0.f) { // course is in range [0, 360], 0=north, CW
@@ -267,6 +268,12 @@ void frsky_send_frame2(int uart)
speed = sqrtf(global_pos->vel_n * global_pos->vel_n + global_pos->vel_e * global_pos->vel_e)
* 25.0f / 46.0f;
alt = global_pos->alt;
}
if (gps->timestamp != 0 && hrt_absolute_time() < gps->timestamp + 20000) {
time_t time_gps = gps->time_utc_usec / 1000000ULL;
struct tm *tm_gps = gmtime(&time_gps);
sec = tm_gps->tm_sec;
}
@@ -302,7 +309,7 @@ void frsky_send_frame2(int uart)
void frsky_send_frame3(int uart)
{
/* send formatted frame */
time_t time_gps = subscription_data->global_pos.time_utc_usec / 1000000ULL;
time_t time_gps = subscription_data->vehicle_gps_position.time_utc_usec / 1000000ULL;
struct tm *tm_gps = gmtime(&time_gps);
uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff);
frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday);