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Merged release into master

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This commit is contained in:
Lorenz Meier
2015-06-13 11:06:01 +02:00
parent 2fc069bd63 a0176474c7
commit c9fefe236b
47 changed files with 1036 additions and 344 deletions
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src/modules/mavlink/mavlink_ftp.cpp
+3 -2
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@@ -299,7 +299,7 @@ MavlinkFTP::_reply(mavlink_file_transfer_protocol_t* ftp_req)
/// @brief Responds to a List command
MavlinkFTP::ErrorCode
MavlinkFTP::_workList(PayloadHeader* payload)
MavlinkFTP::_workList(PayloadHeader* payload, bool list_hidden)
{
char dirPath[kMaxDataLength];
strncpy(dirPath, _data_as_cstring(payload), kMaxDataLength);
@@ -383,7 +383,8 @@ MavlinkFTP::_workList(PayloadHeader* payload)
#else
case DT_DIR:
#endif
if (strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) {
if ((!list_hidden && (strncmp(entry.d_name, ".", 1) == 0)) ||
strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) {
// Don't bother sending these back
direntType = kDirentSkip;
} else {
src/modules/mavlink/mavlink_ftp.h
+1 -1
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@@ -130,7 +130,7 @@ private:
void _reply(mavlink_file_transfer_protocol_t* ftp_req);
int _copy_file(const char *src_path, const char *dst_path, size_t length);
ErrorCode _workList(PayloadHeader *payload);
ErrorCode _workList(PayloadHeader *payload, bool list_hidden = false);
ErrorCode _workOpen(PayloadHeader *payload, int oflag);
ErrorCode _workRead(PayloadHeader *payload);
ErrorCode _workBurst(PayloadHeader* payload, uint8_t target_system_id);
src/modules/mavlink/mavlink_main.cpp
+14 -1
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@@ -1421,6 +1421,8 @@ Mavlink::task_main(int argc, char *argv[])
} else if (strcmp(myoptarg, "onboard") == 0) {
_mode = MAVLINK_MODE_ONBOARD;
} else if (strcmp(optarg, "osd") == 0) {
_mode = MAVLINK_MODE_OSD;
}
break;
@@ -1593,7 +1595,6 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("SYS_STATUS", 1.0f);
configure_stream("ATTITUDE", 50.0f);
configure_stream("HIGHRES_IMU", 50.0f);
configure_stream("VFR_HUD", 5.0f);
configure_stream("GPS_RAW_INT", 5.0f);
configure_stream("GLOBAL_POSITION_INT", 50.0f);
configure_stream("LOCAL_POSITION_NED", 30.0f);
@@ -1610,6 +1611,18 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("ACTUATOR_CONTROL_TARGET0", 10.0f);
break;
case MAVLINK_MODE_OSD:
configure_stream("SYS_STATUS", 5.0f);
configure_stream("ATTITUDE", 25.0f);
configure_stream("VFR_HUD", 5.0f);
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 10.0f);
configure_stream("ATTITUDE_TARGET", 10.0f);
configure_stream("BATTERY_STATUS", 1.0f);
configure_stream("SYSTEM_TIME", 1.0f);
configure_stream("RC_CHANNELS_RAW", 5.0f);
break;
default:
break;
}
src/modules/mavlink/mavlink_main.h
+2 -1
View File
@@ -148,7 +148,8 @@ public:
enum MAVLINK_MODE {
MAVLINK_MODE_NORMAL = 0,
MAVLINK_MODE_CUSTOM,
MAVLINK_MODE_ONBOARD
MAVLINK_MODE_ONBOARD,
MAVLINK_MODE_OSD
};
void set_mode(enum MAVLINK_MODE);
src/modules/mavlink/mavlink_messages.cpp
+6
View File
@@ -131,6 +131,12 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED;
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED;
src/modules/mavlink/mavlink_receiver.cpp
+8 -2
View File
@@ -1007,7 +1007,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
* which makes the corner positions unreachable.
* scale yaw up and clip it to overcome this.
*/
rc.values[2] = man.r / 1.2f + 1500;
rc.values[2] = man.r / 1.1f + 1500;
if (rc.values[2] > 2000) {
rc.values[2] = 2000;
} else if (rc.values[2] < 1000) {
@@ -1015,7 +1015,12 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
}
/* throttle */
rc.values[3] = man.z + 1000;
rc.values[3] = man.z / 0.9f + 1000;
if (rc.values[3] > 2000) {
rc.values[3] = 2000;
} else if (rc.values[3] < 1000) {
rc.values[3] = 1000;
}
rc.values[4] = decode_switch_pos_n(man.buttons, 0) * 1000 + 1000;
rc.values[5] = decode_switch_pos_n(man.buttons, 1) * 1000 + 1000;
@@ -1346,6 +1351,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
hil_sensors.baro_timestamp = timestamp;
hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa
hil_sensors.differential_pressure_filtered_pa = hil_sensors.differential_pressure_pa;
hil_sensors.differential_pressure_timestamp = timestamp;
/* publish combined sensor topic */