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Merged master into ekf2

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Lorenz Meier
2015-12-24 09:53:54 +01:00
parent b958928095 45e4def3eb
commit d3149153f6
24 changed files with 1606 additions and 168 deletions
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src/modules/navigator/mission.cpp
+5 -3
View File
@@ -303,7 +303,7 @@ Mission::advance_mission()
}
}
int
float
Mission::get_absolute_altitude_for_item(struct mission_item_s &mission_item)
{
if (_mission_item.altitude_is_relative) {
@@ -656,8 +656,10 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
for (int i = 0; i < 10; i++) {
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
/* mission item index out of bounds */
mavlink_and_console_log_critical(_navigator->get_mavlink_fd(), "[wpm] err: index: %d, max: %d", *mission_index_ptr, (int)mission->count);
/* mission item index out of bounds - if they are equal, we just reached the end */
if (*mission_index_ptr != (int)mission->count) {
mavlink_and_console_log_critical(_navigator->get_mavlink_fd(), "[wpm] err: index: %d, max: %d", *mission_index_ptr, (int)mission->count);
}
return false;
}
src/modules/navigator/mission.h
+1 -1
View File
@@ -133,7 +133,7 @@ private:
*/
void altitude_sp_foh_reset();
int get_absolute_altitude_for_item(struct mission_item_s &mission_item);
float get_absolute_altitude_for_item(struct mission_item_s &mission_item);
/**
* Read current or next mission item from the dataman and watch out for DO_JUMPS
src/modules/px4iofirmware/controls.c
+4 -4
View File
@@ -74,15 +74,15 @@ static unsigned _rssi_adc_counts = 0;
bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated)
{
perf_begin(c_gather_dsm);
uint16_t temp_count = r_raw_rc_count;
uint8_t n_bytes = 0;
uint8_t *bytes;
*dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes, PX4IO_RC_INPUT_CHANNELS);
bool dsm_11_bit;
*dsm_updated = dsm_input(_dsm_fd, r_raw_rc_values, &r_raw_rc_count, &dsm_11_bit, &n_bytes, &bytes,
PX4IO_RC_INPUT_CHANNELS);
if (*dsm_updated) {
r_raw_rc_count = temp_count & 0x7fff;
if (temp_count & 0x8000) {
if (dsm_11_bit) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
} else {
src/modules/px4iofirmware/px4io.h
-1
View File
@@ -170,7 +170,6 @@ extern pwm_limit_t pwm_limit;
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
# define PX4IO_RELAY_CHANNELS 0
# define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
# define ENABLE_SBUS_OUT(_s) stm32_gpiowrite(GPIO_SBUS_OENABLE, !(_s))
# define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT))