fly316/PX4-Autopilot
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Minor fixes, pushing WIP

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This commit is contained in:
Lorenz Meier
2012-12-29 11:00:15 +01:00
parent be85589e48
commit c652f718c0
6 changed files with 60 additions and 31 deletions
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apps/commander/commander.c
+29 -6
View File
@@ -147,7 +147,6 @@ int commander_thread_main(int argc, char *argv[]);
static int buzzer_init(void);
static void buzzer_deinit(void);
static void tune_confirm(void);
static int led_init(void);
static void led_deinit(void);
static int led_toggle(int led);
@@ -272,6 +271,10 @@ void tune_confirm(void) {
ioctl(buzzer, TONE_SET_ALARM, 3);
}
void tune_error(void) {
ioctl(buzzer, TONE_SET_ALARM, 4);
}
void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
{
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
@@ -980,8 +983,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
break;
case MAV_CMD_PREFLIGHT_STORAGE: {
if (current_status.flag_system_armed) {
mavlink_log_info(mavlink_fd, "[cmd] REJECTING param command while armed");
if (current_status.flag_system_armed &&
((current_status.system_type == MAV_TYPE_QUADROTOR) ||
(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
(current_status.system_type == MAV_TYPE_OCTOROTOR))) {
/* do not perform expensive memory tasks on multirotors in flight */
// XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed
mavlink_log_info(mavlink_fd, "[cmd] REJECTING save cmd while multicopter armed");
} else {
// XXX move this to LOW PRIO THREAD of commander app
@@ -1680,6 +1688,7 @@ int commander_thread_main(int argc, char *argv[])
* Check if manual control modes have to be switched
*/
if (!isfinite(sp_man.manual_mode_switch)) {
printf("man mode sw not finite\n");
/* this switch is not properly mapped, set default */
if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
@@ -1688,13 +1697,17 @@ int commander_thread_main(int argc, char *argv[])
/* assuming a rotary wing, fall back to SAS */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
} else {
/* assuming a fixed wing, fall back to direct pass-through */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = false;
}
} else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) {
} else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) {
/* bottom stick position, set direct mode for vehicles supporting it */
if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
@@ -1703,22 +1716,32 @@ int commander_thread_main(int argc, char *argv[])
/* assuming a rotary wing, fall back to SAS */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
} else {
/* assuming a fixed wing, fall back to direct pass-through */
/* assuming a fixed wing, set to direct pass-through as requested */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = false;
}
} else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) {
} else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) {
/* top stick position, set SAS for all vehicle types */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
} else {
/* center stick position, set rate control */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = true;
}
printf("man ctrl mode: %d\n", (int)current_status.manual_control_mode);
/*
* Check if manual stability control modes have to be switched
*/
apps/commander/commander.h
+3
View File
@@ -52,4 +52,7 @@
#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f
void tune_confirm(void);
void tune_error(void);
#endif /* COMMANDER_H_ */
apps/commander/state_machine_helper.c
+1
View File
@@ -535,6 +535,7 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
{
if (!current_status->flag_vector_flight_mode_ok) {
mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. STAB MODE");
tune_error();
return;
}
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {