fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 19:43:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merged, compiling

Browse Source
This commit is contained in:
Lorenz Meier
2013-01-06 11:25:17 +01:00
parent 0ef1d6d752 8eb8909a3c
commit d3fd3d8219
21 changed files with 891 additions and 220 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/commander/commander.c
+19 -10
View File
@@ -69,6 +69,7 @@
#include <poll.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
@@ -1315,8 +1316,6 @@ int commander_thread_main(int argc, char *argv[])
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s sensors;
memset(&sensors, 0, sizeof(sensors));
sensors.battery_voltage_v = 0.0f;
sensors.battery_voltage_valid = false;
/* Subscribe to command topic */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -1328,6 +1327,12 @@ int commander_thread_main(int argc, char *argv[])
struct parameter_update_s param_changed;
memset(&param_changed, 0, sizeof(param_changed));
/* subscribe to battery topic */
int battery_sub = orb_subscribe(ORB_ID(battery_status));
struct battery_status_s battery;
memset(&battery, 0, sizeof(battery));
battery.voltage_v = 0.0f;
// uint8_t vehicle_state_previous = current_status.state_machine;
float voltage_previous = 0.0f;
@@ -1413,15 +1418,19 @@ int commander_thread_main(int argc, char *argv[])
last_local_position_time = local_position.timestamp;
}
battery_voltage = sensors.battery_voltage_v;
battery_voltage_valid = sensors.battery_voltage_valid;
orb_check(battery_sub, &new_data);
if (new_data) {
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
battery_voltage = battery.voltage_v;
battery_voltage_valid = true;
/*
* Only update battery voltage estimate if voltage is
* valid and system has been running for two and a half seconds
*/
if (battery_voltage_valid && (hrt_absolute_time() - start_time > 2500000)) {
bat_remain = battery_remaining_estimate_voltage(battery_voltage);
/*
* Only update battery voltage estimate if system has
* been running for two and a half seconds.
*/
if (hrt_absolute_time() - start_time > 2500000) {
bat_remain = battery_remaining_estimate_voltage(battery_voltage);
}
}
/* Slow but important 8 Hz checks */