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Merge branch 'master' of github.com:PX4/Firmware

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This commit is contained in:
Lorenz Meier
2012-10-02 22:28:22 +02:00
parent 7ef4655b0e 178462edcd
commit b5d2ec3d92
46 changed files with 1400 additions and 1453 deletions
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apps/mavlink/mavlink.c
+13 -6
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@@ -75,7 +75,9 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/debug_key_value.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include "waypoints.h"
#include "mavlink_log.h"
@@ -203,7 +205,7 @@ int mavlink_missionlib_send_gcs_string(const char *string);
uint64_t mavlink_missionlib_get_system_timestamp(void);
void handleMessage(mavlink_message_t *msg);
static void mavlink_update_system();
static void mavlink_update_system(void);
/**
* Enable / disable Hardware in the Loop simulation mode.
@@ -1552,9 +1554,9 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
return uart;
}
void mavlink_update_system()
void mavlink_update_system(void)
{
static initialized = false;
static bool initialized = false;
param_t param_system_id;
param_t param_component_id;
param_t param_system_type;
@@ -1709,9 +1711,9 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30);
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
@@ -1869,7 +1871,12 @@ int mavlink_main(int argc, char *argv[])
}
thread_should_exit = false;
mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 6000, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
mavlink_task = task_spawn("mavlink",
SCHED_RR,
SCHED_PRIORITY_DEFAULT,
6000,
mavlink_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}