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vehicle_command topic: use uorb queuing with length 3

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Just to make sure we don't lose any messages.
This commit is contained in:
Beat Küng
2016-09-07 14:24:09 +02:00
parent c1b73a068e
commit be4db3c5df
9 changed files with 29 additions and 19 deletions
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src/modules/commander/commander.cpp
+6 -6
View File
@@ -424,7 +424,7 @@ int commander_main(int argc, char *argv[])
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
} else {
@@ -453,7 +453,7 @@ int commander_main(int argc, char *argv[])
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
@@ -476,7 +476,7 @@ int commander_main(int argc, char *argv[])
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
@@ -538,8 +538,8 @@ int commander_main(int argc, char *argv[])
/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
cmd.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f; /* lockdown */
// XXX inspect use of publication handle
(void)orb_advertise(ORB_ID(vehicle_command), &cmd);
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
}
@@ -3665,7 +3665,7 @@ void answer_command(struct vehicle_command_s &cmd, unsigned result,
orb_publish(ORB_ID(vehicle_command_ack), command_ack_pub, &command_ack);
} else {
command_ack_pub = orb_advertise(ORB_ID(vehicle_command_ack), &command_ack);
command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
}
}
src/modules/mavlink/mavlink_receiver.cpp
+3 -3
View File
@@ -412,7 +412,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
vcmd.confirmation = cmd_mavlink.confirmation;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
@@ -488,7 +488,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
vcmd.source_component = msg->compid;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
@@ -636,7 +636,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
vcmd.confirmation = 1;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
src/modules/navigator/mission_block.cpp
+4 -4
View File
@@ -364,7 +364,7 @@ MissionBlock::issue_command(const struct mission_item_s *item)
}
if (item->nav_cmd == NAV_CMD_DO_SET_SERVO) {
PX4_WARN("do_set_servo command");
PX4_INFO("do_set_servo command");
// XXX: we should issue a vehicle command and handle this somewhere else
memset(&actuators, 0, sizeof(actuators));
// params[0] actuator number to be set 0..5 (corresponds to AUX outputs 1..6)
@@ -380,7 +380,7 @@ MissionBlock::issue_command(const struct mission_item_s *item)
}
} else {
PX4_WARN("forwarding command %d\n", item->nav_cmd);
PX4_INFO("forwarding command %d", item->nav_cmd);
struct vehicle_command_s cmd = {};
mission_item_to_vehicle_command(item, &cmd);
_action_start = hrt_absolute_time();
@@ -389,7 +389,7 @@ MissionBlock::issue_command(const struct mission_item_s *item)
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &cmd);
} else {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
}
}
}
@@ -616,7 +616,7 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
if (_cmd_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &cmd);
} else {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
}
}