fly316/PX4-Autopilot
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Merge ROS into master

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This commit is contained in:
Lorenz Meier
2015-02-03 20:07:55 +01:00
parent 3e7faa6018 d441d38677
commit dc46736ead
189 changed files with 10102 additions and 1865 deletions
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src/modules/navigator/loiter.cpp
+1 -1
View File
@@ -82,7 +82,7 @@ Loiter::on_activation()
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
_navigator->set_position_setpoint_triplet_updated();
}
src/modules/navigator/mission.cpp
+2 -2
View File
@@ -397,7 +397,7 @@ Mission::set_mission_items()
pos_sp_triplet->next.valid = false;
/* reuse setpoint for LOITER only if it's not IDLE */
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
set_mission_finished();
@@ -476,7 +476,7 @@ Mission::set_mission_items()
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
/* require takeoff after landing or idle */
if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) {
if (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_need_takeoff = true;
}
src/modules/navigator/mission_block.cpp
+5 -5
View File
@@ -194,25 +194,25 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
switch (item->nav_cmd) {
case NAV_CMD_IDLE:
sp->type = SETPOINT_TYPE_IDLE;
sp->type = position_setpoint_s::SETPOINT_TYPE_IDLE;
break;
case NAV_CMD_TAKEOFF:
sp->type = SETPOINT_TYPE_TAKEOFF;
sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
break;
case NAV_CMD_LAND:
sp->type = SETPOINT_TYPE_LAND;
sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;
break;
case NAV_CMD_LOITER_TIME_LIMIT:
case NAV_CMD_LOITER_TURN_COUNT:
case NAV_CMD_LOITER_UNLIMITED:
sp->type = SETPOINT_TYPE_LOITER;
sp->type = position_setpoint_s::SETPOINT_TYPE_LOITER;
break;
default:
sp->type = SETPOINT_TYPE_POSITION;
sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION;
break;
}
}
src/modules/navigator/navigator_main.cpp
+15 -15
View File
@@ -217,7 +217,7 @@ Navigator::vehicle_status_update()
{
if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) {
/* in case the commander is not be running */
_vstatus.arming_state = ARMING_STATE_STANDBY;
_vstatus.arming_state = vehicle_status_s::ARMING_STATE_STANDBY;
}
}
@@ -416,25 +416,25 @@ Navigator::task_main()
/* Do stuff according to navigation state set by commander */
switch (_vstatus.nav_state) {
case NAVIGATION_STATE_MANUAL:
case NAVIGATION_STATE_ACRO:
case NAVIGATION_STATE_ALTCTL:
case NAVIGATION_STATE_POSCTL:
case NAVIGATION_STATE_LAND:
case NAVIGATION_STATE_TERMINATION:
case NAVIGATION_STATE_OFFBOARD:
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
case vehicle_status_s::NAVIGATION_STATE_ACRO:
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
case vehicle_status_s::NAVIGATION_STATE_LAND:
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_mission;
break;
case NAVIGATION_STATE_AUTO_LOITER:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_loiter;
break;
case NAVIGATION_STATE_AUTO_RCRECOVER:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
_pos_sp_triplet_published_invalid_once = false;
if (_param_rcloss_obc.get() != 0) {
_navigation_mode = &_rcLoss;
@@ -442,11 +442,11 @@ Navigator::task_main()
_navigation_mode = &_rtl;
}
break;
case NAVIGATION_STATE_AUTO_RTL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_rtl;
break;
case NAVIGATION_STATE_AUTO_RTGS:
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */
_pos_sp_triplet_published_invalid_once = false;
@@ -456,11 +456,11 @@ Navigator::task_main()
_navigation_mode = &_rtl;
}
break;
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_engineFailure;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_gpsFailure;
break;