fly316/PX4-Autopilot
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Changed location of lots of flags and conditions, needs testing and more work

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This commit is contained in:
Julian Oes
2013-07-16 18:56:31 +02:00
parent 6e44a486c1
commit bcdedd9a35
16 changed files with 149 additions and 164 deletions
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src/modules/mavlink/mavlink.c
+9 -6
View File
@@ -191,7 +191,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
**/
/* HIL */
if (v_status.flag_hil_enabled) {
if (v_status.hil_state == HIL_STATE_ON) {
*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
@@ -234,11 +234,11 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
**/
/* set calibration state */
if (v_status.flag_preflight_calibration) {
if (v_status.preflight_calibration) {
*mavlink_state = MAV_STATE_CALIBRATING;
} else if (v_status.flag_system_emergency) {
} else if (v_status.system_emergency) {
*mavlink_state = MAV_STATE_EMERGENCY;
@@ -677,7 +677,10 @@ int mavlink_thread_main(int argc, char *argv[])
mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state);
/* switch HIL mode if required */
set_hil_on_off(v_status.flag_hil_enabled);
if (v_status.hil_state == HIL_STATE_ON)
set_hil_on_off(true);
else if (v_status.hil_state == HIL_STATE_OFF)
set_hil_on_off(false);
/* send status (values already copied in the section above) */
mavlink_msg_sys_status_send(chan,
@@ -685,8 +688,8 @@ int mavlink_thread_main(int argc, char *argv[])
v_status.onboard_control_sensors_enabled,
v_status.onboard_control_sensors_health,
v_status.load,
v_status.voltage_battery * 1000.0f,
v_status.current_battery * 1000.0f,
v_status.battery_voltage * 1000.0f,
v_status.battery_current * 1000.0f,
v_status.battery_remaining,
v_status.drop_rate_comm,
v_status.errors_comm,
src/modules/mavlink/orb_listener.c
+4 -1
View File
@@ -272,7 +272,10 @@ l_vehicle_status(const struct listener *l)
orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
/* enable or disable HIL */
set_hil_on_off(v_status.flag_hil_enabled);
if (v_status.hil_state == HIL_STATE_ON)
set_hil_on_off(true);
else if (v_status.hil_state == HIL_STATE_OFF)
set_hil_on_off(false);
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;