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Added ground estimator, fixed RC calibration

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This commit is contained in:
Lorenz Meier
2012-09-12 10:34:49 +02:00
parent b7c8b7d9f1
commit cb57fdb28c
4 changed files with 186 additions and 19 deletions
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apps/mavlink/mavlink.c
+4 -10
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@@ -754,9 +754,9 @@ static void *uorb_receiveloop(void *arg)
/* handle the poll result */
if (poll_ret == 0) {
/* XXX this means none of our providers is giving us data - might be an error? */
mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s");
} else if (poll_ret < 0) {
/* XXX this is seriously bad - should be an emergency */
mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
} else {
int ifds = 0;
@@ -867,7 +867,8 @@ static void *uorb_receiveloop(void *arg)
/* copy rc channels into local buffer */
orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
/* Channels are sent in MAVLink main loop at a fixed interval */
// TODO decide where to send channels
mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi);
}
/* --- VEHICLE GLOBAL POSITION --- */
@@ -1617,13 +1618,6 @@ int mavlink_thread_main(int argc, char *argv[])
v_status.onboard_control_sensors_health, v_status.load, v_status.voltage_battery * 1000.f, v_status.current_battery * 1000.f,
v_status.battery_remaining, v_status.drop_rate_comm, v_status.errors_comm,
v_status.errors_count1, v_status.errors_count2, v_status.errors_count3, v_status.errors_count4);
/* send over MAVLink */
if ((hrt_absolute_time() - rc.timestamp) < 200000) {
mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi);
}
lowspeed_counter = 0;
}
lowspeed_counter++;