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Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages

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Thomas Gubler
2014-08-19 09:12:41 +02:00
parent 174b0a5527 cc98c6deff
commit e3724e64d4
8 changed files with 26 additions and 30 deletions
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src/modules/commander/commander.cpp
+1 -1
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@@ -129,7 +129,7 @@ extern struct system_load_s system_load;
#define POSITION_TIMEOUT (2 * 1000 * 1000) /**< consider the local or global position estimate invalid after 600ms */
#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
#define RC_TIMEOUT 500000
#define DL_TIMEOUT 5 * 1000* 1000
#define DL_TIMEOUT (10 * 1000 * 1000)
#define OFFBOARD_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000
src/modules/mavlink/mavlink_main.cpp
+2
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@@ -218,6 +218,8 @@ Mavlink::Mavlink() :
errx(1, "instance ID is out of range");
break;
}
_rstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
}
Mavlink::~Mavlink()
src/modules/mavlink/mavlink_receiver.cpp
+9 -21
View File
@@ -114,7 +114,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_telemetry_status_pub(-1),
_rc_pub(-1),
_manual_pub(-1),
_radio_status_available(false),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_hil_frames(0),
_old_timestamp(0),
@@ -691,9 +690,6 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
/* this means that heartbeats alone won't be published to the radio status no more */
_radio_status_available = true;
}
}
@@ -735,25 +731,17 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
hrt_abstime tnow = hrt_absolute_time();
/* set heartbeat time and topic time and publish -
* the telem status also gets updated on telemetry events
*/
tstatus.timestamp = hrt_absolute_time();
tstatus.heartbeat_time = tstatus.timestamp;
/* always set heartbeat, publish only if telemetry link not up */
tstatus.heartbeat_time = tnow;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
/* if no radio status messages arrive, lets at least publish that heartbeats were received */
if (!_radio_status_available) {
tstatus.timestamp = tnow;
/* telem_time indicates the timestamp of a telemetry status packet and we got none */
tstatus.telem_time = 0;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
}
}
src/modules/mavlink/mavlink_receiver.h
-1
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@@ -155,7 +155,6 @@ private:
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;
bool _radio_status_available;
int _control_mode_sub;
int _hil_frames;
uint64_t _old_timestamp;