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This commit is contained in:
Lorenz Meier
2013-07-15 15:02:45 +02:00
parent 88389ea255 17338ca61a
commit bf2ff98856
56 changed files with 1926 additions and 958 deletions
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src/modules/mavlink/mavlink.c
+3 -4
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@@ -49,7 +49,6 @@
#include <mqueue.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
@@ -464,7 +463,7 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
}
void
mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length)
{
write(uart, ch, (size_t)(sizeof(uint8_t) * length));
}
@@ -472,7 +471,7 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
/*
* Internal function to give access to the channel status for each channel
*/
mavlink_status_t *mavlink_get_channel_status(uint8_t channel)
extern mavlink_status_t *mavlink_get_channel_status(uint8_t channel)
{
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
return &m_mavlink_status[channel];
@@ -481,7 +480,7 @@ mavlink_status_t *mavlink_get_channel_status(uint8_t channel)
/*
* Internal function to give access to the channel buffer for each channel
*/
mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
{
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
return &m_mavlink_buffer[channel];
src/modules/mavlink/mavlink_bridge_header.h
+5 -3
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@@ -73,9 +73,11 @@ extern mavlink_system_t mavlink_system;
* @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
* @param ch Character to send
*/
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length);
mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
#include <v1.0/common/mavlink.h>
#endif /* MAVLINK_BRIDGE_HEADER_H */
src/modules/mavlink/mavlink_parameters.c
-1
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@@ -40,7 +40,6 @@
*/
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include "mavlink_parameters.h"
#include <uORB/uORB.h>
#include "math.h" /* isinf / isnan checks */
src/modules/mavlink/mavlink_receiver.cpp
-2
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@@ -49,7 +49,6 @@
#include <fcntl.h>
#include <mqueue.h>
#include <string.h>
#include <v1.0/common/mavlink.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
@@ -503,7 +502,6 @@ handle_message(mavlink_message_t *msg)
} else {
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
}
warnx("IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
src/modules/mavlink/missionlib.c
-1
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@@ -48,7 +48,6 @@
#include <mqueue.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
src/modules/mavlink/missionlib.h
+1 -1
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@@ -39,7 +39,7 @@
#pragma once
#include <v1.0/common/mavlink.h>
#include "mavlink_bridge_header.h"
//extern void mavlink_wpm_send_message(mavlink_message_t *msg);
//extern void mavlink_wpm_send_gcs_string(const char *string);
src/modules/mavlink/orb_listener.c
-1
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@@ -47,7 +47,6 @@
#include <fcntl.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
src/modules/mavlink/waypoints.c
+2 -1
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@@ -45,6 +45,7 @@
#include <unistd.h>
#include <stdio.h>
#include "mavlink_bridge_header.h"
#include "missionlib.h"
#include "waypoints.h"
#include "util.h"
@@ -372,7 +373,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt);
} else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->relative_alt);
dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->relative_alt);
} else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) {
dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z);
src/modules/mavlink/waypoints.h
+5 -5
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@@ -47,11 +47,11 @@
#include <v1.0/mavlink_types.h>
#ifndef MAVLINK_SEND_UART_BYTES
#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len)
#endif
extern mavlink_system_t mavlink_system;
#include <v1.0/common/mavlink.h>
// #ifndef MAVLINK_SEND_UART_BYTES
// #define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len)
// #endif
//extern mavlink_system_t mavlink_system;
#include "mavlink_bridge_header.h"
#include <stdbool.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>