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Merge branch 'master' into navigator_new_vector

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This commit is contained in:
Anton Babushkin
2014-01-01 14:14:35 +04:00
parent 6827e45aee 5b302fef59
commit b7f2c89a16
24 changed files with 275 additions and 210 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+2 -1
View File
@@ -533,7 +533,8 @@ FixedwingAttitudeControl::task_main()
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vcontrol_mode_sub, 200);
orb_set_interval(_att_sub, 100);
/* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */
orb_set_interval(_att_sub, 17);
parameters_update();
src/modules/mavlink/orb_listener.c
+22 -15
View File
@@ -350,20 +350,26 @@ l_input_rc(const struct listener *l)
/* copy rc channels into local buffer */
orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw);
if (gcs_link)
/* Channels are sent in MAVLink main loop at a fixed interval */
mavlink_msg_rc_channels_raw_send(chan,
rc_raw.timestamp / 1000,
0,
(rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX,
(rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX,
(rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX,
(rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX,
(rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX,
(rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX,
(rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX,
(rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX,
255);
if (gcs_link) {
const unsigned port_width = 8;
for (unsigned i = 0; (i * port_width) < (rc_raw.channel_count + port_width); i++) {
/* Channels are sent in MAVLink main loop at a fixed interval */
mavlink_msg_rc_channels_raw_send(chan,
rc_raw.timestamp / 1000,
i,
(rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 2) ? rc_raw.values[(i * port_width) + 2] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 3) ? rc_raw.values[(i * port_width) + 3] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 4) ? rc_raw.values[(i * port_width) + 4] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 5) ? rc_raw.values[(i * port_width) + 5] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 6) ? rc_raw.values[(i * port_width) + 6] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 7) ? rc_raw.values[(i * port_width) + 7] : UINT16_MAX,
rc_raw.rssi);
}
}
}
void
@@ -492,7 +498,8 @@ l_actuator_outputs(const struct listener *l)
if (gcs_link) {
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
l->arg /* port number */,
l->arg /* port number - needs GCS support */,
/* QGC has port number support already */
act_outputs.output[0],
act_outputs.output[1],
act_outputs.output[2],