fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 01:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Rewrote SD logging app, simpler, but effective. Pending testing

Browse Source
This commit is contained in:
Lorenz Meier
2012-09-10 23:04:31 +02:00
parent 0019f65b10
commit e440fc4027
11 changed files with 267 additions and 964 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/mavlink/mavlink.c
+13 -34
View File
@@ -61,7 +61,6 @@
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/ardrone_control.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
@@ -593,7 +592,6 @@ static void *uorb_receiveloop(void *arg)
struct sensor_combined_s raw;
struct vehicle_attitude_s att;
struct vehicle_gps_position_s gps;
struct ardrone_control_s ar_control;
struct vehicle_local_position_setpoint_s local_sp;
struct vehicle_global_position_setpoint_s global_sp;
struct vehicle_attitude_setpoint_s att_sp;
@@ -770,10 +768,10 @@ static void *uorb_receiveloop(void *arg)
orb_copy(ORB_ID(sensor_combined), subs->sensor_sub, &buf.raw);
/* send raw imu data */
mavlink_msg_raw_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_raw[0], buf.raw.accelerometer_raw[1], buf.raw.accelerometer_raw[2], buf.raw.gyro_raw[0], buf.raw.gyro_raw[1], buf.raw.gyro_raw[2], buf.raw.magnetometer_raw[0], buf.raw.magnetometer_raw[1], buf.raw.magnetometer_raw[2]);
/* send scaled imu data (m/s^2 accelerations scaled back to milli-g) */
//mavlink_msg_scaled_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_m_s2[0] * 101.936799f, buf.raw.accelerometer_m_s2[1] * 101.936799f, buf.raw.accelerometer_m_s2[2] * 101.936799f, buf.raw.gyro_rad_s[0] * 1000, buf.raw.gyro_rad_s[1] * 1000, buf.raw.gyro_rad_s[2] * 1000, buf.raw.magnetometer_ga[0] * 1000, buf.raw.magnetometer_ga[1] * 1000, buf.raw.magnetometer_ga[2] * 1000);
/* send scaled imu data */
mavlink_msg_raw_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_raw[0],
buf.raw.accelerometer_raw[1], buf.raw.accelerometer_raw[2], buf.raw.gyro_raw[0],
buf.raw.gyro_raw[1], buf.raw.gyro_raw[2], buf.raw.magnetometer_raw[0],
buf.raw.magnetometer_raw[1], buf.raw.magnetometer_raw[2]);
/* mark individual fields as changed */
uint16_t fields_updated = 0;
@@ -847,26 +845,6 @@ static void *uorb_receiveloop(void *arg)
gps_counter++;
}
// /* --- ARDRONE CONTROL OUTPUTS --- */
// if (fds[ifds++].revents & POLLIN) {
// /* copy ardrone control data into local buffer */
// orb_copy(ORB_ID(ardrone_control), ar_sub, &buf.ar_control);
// uint64_t timestamp = buf.ar_control.timestamp;
// float setpoint_roll = buf.ar_control.setpoint_attitude[0];
// float setpoint_pitch = buf.ar_control.setpoint_attitude[1];
// float setpoint_yaw = buf.ar_control.setpoint_attitude[2];
// float setpoint_thrust = buf.ar_control.setpoint_thrust_cast;
// float control_roll = buf.ar_control.attitude_control_output[0];
// float control_pitch = buf.ar_control.attitude_control_output[1];
// float control_yaw = buf.ar_control.attitude_control_output[2];
// mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0, timestamp / 1000, setpoint_roll, setpoint_pitch, setpoint_yaw, setpoint_thrust);
// mavlink_msg_named_value_float_send(MAVLINK_COMM_0, timestamp / 1000, "cl.roll", control_roll);
// mavlink_msg_named_value_float_send(MAVLINK_COMM_0, timestamp / 1000, "cl.pitch", control_pitch);
// mavlink_msg_named_value_float_send(MAVLINK_COMM_0, timestamp / 1000, "cl.yaw", control_yaw);
// }
/* --- SYSTEM STATUS --- */
if (fds[ifds++].revents & POLLIN) {
/* immediately communicate state changes back to user */
@@ -1539,18 +1517,18 @@ int mavlink_thread_main(int argc, char *argv[])
if (baudrate >= 921600) {
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 5);
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5);
/* 5 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200);
} else if (baudrate >= 460800) {
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
/* 50 Hz / 10 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20);
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
@@ -1559,10 +1537,10 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
} else if (baudrate >= 115200) {
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
/* 10 Hz / 100 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 100);
@@ -1570,9 +1548,10 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000);
} else if (baudrate >= 57600) {
/* 10 Hz / 100 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 100);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 100);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 100);
/* 10 Hz / 100 ms ATTITUDE */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
/* 5 Hz / 200 ms */
@@ -1581,7 +1560,7 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 5000);
} else {
/* very low baud rate, limit to 1 Hz / 1000 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 1000);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000);
/* 1 Hz / 1000 ms */